Assembly device, assembly equipment and method for knuckle bearing

Abstract

The invention discloses an assembly device, assembly equipment and method for a knuckle bearing, and relates to the field of bearing assembly.The assembly device comprises a positioning assembly, a first mounting assembly and a second mounting assembly.The assembly device can achieve automatic assembly of the knuckle bearing and step-by-step rotary press fitting of the knuckle bearing, and the assembly efficiency is improved. The assembly equipment comprises a feeding device, a transferring device and an assembly device, automatic assembly of the bearing can be achieved, workpieces of different lengths and the knuckle bearing can be assembled, and the assembly method comprises the steps that the knuckle bearing is vertically installed in a bearing hole firstly, then the knuckle bearing rotates by 90 degrees in the Z-axis direction, and then the knuckle bearing rotates by 90 degrees in the Z-axis direction. And then the knuckle bearing rotates by 90 degrees around the X-axis direction, and the step-by-step spinning step is adopted, so that surface damage and internal hidden damage can be avoided to a great extent during press fitting of the knuckle bearing.

Description

Technical Field

[0001] The present application relates to the field of bearing assembly, and in particular to an assembly device, assembly equipment and method for a spherical plain bearing. Background Art

[0002] The swing arm is an important part of the car electric door. The end of the swing arm is provided with a bearing hole. The bearing hole is circular and the joint bearing is assembled in the bearing hole. Figure 1 As shown, when the existing bearing assembly equipment assembles the spherical plain bearing (label 60'), the spherical plain bearing and the bearing hole (label 70a') are pressed in coaxially. When the bearing is pressed in, all positions of the bearing are simultaneously subjected to radial extrusion force, the force-bearing area is too large, and the bearing is severely deformed and damaged. Summary of the Invention

[0003] The embodiments of the present application provide an assembly device, assembly equipment, and method for a spherical plain bearing, which can realize the automated assembly of the spherical plain bearing and reduce damage to the spherical plain bearing.

[0004] In a first aspect, the present application discloses an assembly device for a spherical plain bearing, comprising a positioning assembly, a first mounting assembly, and a second mounting assembly, wherein a workpiece is disposed on the positioning assembly; The first mounting assembly includes a first bracket, a first slide, a first Z-axis module, a mounting arm, and a first rotary drive member; the first bracket is arranged on one side of the positioning assembly; the first slide is slidably arranged on the first bracket along the Z-axis direction; the first Z-axis module is connected to the first slide, and is used to drive the first slide to move in the Z-axis direction; the mounting arm is rotatably connected to the first slide, and one end of the mounting arm is provided with a bearing connection portion, and the bearing connection portion and the bearing hole of the workpiece are arranged correspondingly in the Z-axis direction; the first rotary drive member is connected to the mounting arm, and is used to drive the mounting arm to rotate around the Z-axis direction; The second mounting assembly includes a first X-axis module, a second slide, a second rotary drive member and a first clamp; the first X-axis module is connected to the second slide, and is used to drive the second slide to approach and move away from the joint bearing in the X-axis direction; the second rotary drive member is arranged on the second slide, and the first clamp is connected to the output end of the second rotary drive member, and is used to clamp the joint bearing, and the first clamp and the joint bearing are driven to rotate around the X-axis direction through the second rotary drive member.

[0005] Preferably, the positioning assembly includes a base, a positioning platform, an elastic member, a force-bearing platform and a first telescopic member; the positioning platform is connected to the base in a sliding manner along the Z-axis direction; a positioning groove for positioning the workpiece is provided on the positioning platform; the elastic member is provided between the base and the positioning platform, and the telescopic direction of the elastic member is configured as the Z-axis direction; the force-bearing platform is provided on the base in a sliding manner along the Y-axis direction, and is used to support the positioning platform in the Z-axis direction, and the first telescopic member is connected to the force-bearing platform, and is used to drive the force-bearing platform to move along the Y-axis direction to the bottom of the positioning groove or to withdraw from the bottom of the positioning groove.

[0006] Preferably, the positioning assembly also includes a rotating telescopic drive member, the fixed end of the rotating telescopic drive member is arranged on the positioning table, and the action end of the rotating telescopic drive member is provided with a clamping rod, the rotating telescopic drive member is used to drive the clamping rod to rotate around the Z-axis direction and move in the Z-axis direction, and the clamping rod is used to press the workpiece on the positioning table.

[0007] Preferably, the bearing connection portion includes a clamping groove; the inner top wall of the clamping groove is provided with a negative pressure adsorption hole for adsorbing the spherical bearing, and the negative pressure adsorption hole is connected to an external negative pressure source.

[0008] In the second aspect, the present application discloses an assembly device for joint bearings, including a loading device, a transfer device and an assembly device; the loading device is arranged on one side of the assembly device along the X-axis direction, and is used to transfer the joint bearings to be assembled from the loading position to the transfer device; the transfer device is arranged on the lower side of the mounting arm of the assembly device, and is used to transport the joint bearings to be assembled along the X-axis direction; the two assembly devices are arranged at intervals along the X-axis direction, and the transfer device transfers the joint bearings along the X-axis direction to the lower side of the mounting arm.

[0009] Preferably, the loading device includes a first Y-axis module, a second Z-axis module and a second clamp. The first Y-axis module is arranged on one side of the assembly device, and is used to drive the second Z-axis module to move in the Y-axis direction; the second Z-axis module is connected to the first Y-axis module, and is used to drive the second clamp to move in the Z-axis direction, and the second clamp is used to clamp the joint bearing to be assembled; the transfer device includes a second X-axis module and a feeding arm. The second X-axis module is used to drive the feeding arm to move in the X-axis direction, and a limiting groove is provided on the feeding arm, and the second clamp places the joint bearing in the limiting groove.

[0010] Preferably, the assembly equipment also includes a shaping and turning device; the shaping and turning device includes a shaping support, a shaping slide, a second telescopic member, a shaping plate, a third telescopic member, an identification module, a fourth telescopic member, a third rotation driving member and a third clamp; the shaping support is arranged on one side of the assembly device along the X-axis direction; the shaping slide is slidably connected to the shaping support along the Y-axis direction; the second telescopic member is arranged on the shaping support and connected to the shaping slide, and the telescopic direction of the second telescopic member is configured as the Y-axis direction; a positioning pin is provided on the shaping slide, and the bearing hole of the workpiece is sleeved on the positioning pin; a baffle is provided on the shaping slide ; The shaping plate is located on one side of the baffle along the X-axis direction; the third telescopic member is arranged on the shaping slide, and the telescopic end of the third telescopic member is connected to the shaping plate, so as to enable the shaping plate to push the workpiece to move along the X-axis direction toward the baffle; the identification module is arranged at the upper end of the shaping slide, so as to identify the front and back sides of the workpiece; the fourth telescopic member is arranged on the shaping support, and the telescopic direction of the fourth telescopic member is configured as the Z-axis direction; the third rotary drive member is connected to the telescopic end of the fourth telescopic member, and the third rotary drive member is used to drive the third clamping jaw to rotate around the Y-axis direction; the third clamping jaw is connected to the third rotary drive member for clamping the workpiece.

[0011] Preferably, a third X-axis module is further included; among the two assembly devices, one assembly device is connected to the third X-axis module, and the third X-axis module is used to drive the assembly device to move in the X-axis direction.

[0012] In a third aspect, the present application provides a method for assembling a spherical plain bearing, using an assembly device. The assembly method includes: Step A100: The robot places the workpiece on the positioning assembly; Step A200: Connect the bearing connection portion of the mounting arm to the spherical plain bearing to be assembled, and align the outer peripheral surface of the spherical plain bearing with the outwardly expanded arc groove of the bearing hole in the Z-axis direction; Step A300: The installation arm drives the spherical bearing to move downward along the Z-axis until the spherical bearing is installed into the bearing hole and the outward arc groove; Step A400: The first rotary driving member drives the mounting arm and the spherical bearing to rotate ninety degrees around the Z-axis in the bearing hole; Step A500: The first X-axis module drives the first clamping jaw to approach the workpiece along the X-axis direction until the first clamping jaw moves to the outer peripheral side of the spherical plain bearing and clamps the outer peripheral side of the spherical plain bearing; Step A600: The second rotary drive member drives the first clamping jaw and the joint bearing to rotate ninety degrees around the X-axis. After the installation is completed, the first clamping jaw releases the joint bearing and resets.

[0013] In a fourth aspect, the present application further provides another method for assembling a spherical plain bearing, using an assembly device. The assembly method includes: Step S100: The robot places the workpiece on the positioning assembly; Step S200: The loading device loads the spherical plain bearing to be assembled from the loading position along the X-axis and Z-axis directions to the transfer device; Step S300: The transfer device transfers the spherical plain bearing to be assembled to the lower side of the mounting arm of the assembly device; Step S400: The mounting arm moves downward along the Z-axis direction under the drive of the first Z-axis module until the bearing connection portion is connected to the spherical plain bearing, and the outer peripheral surface of the spherical plain bearing is aligned with the outwardly expanded arc groove of the bearing hole in the Z-axis direction; Step S500: The installation arm drives the spherical bearing to move downward along the Z-axis until the spherical bearing is installed into the bearing hole and the outward-expanding arc groove; Step S600: The first rotary driving member drives the mounting arm and the spherical bearing to rotate ninety degrees around the Z axis in the bearing hole; Step S700: The first X-axis module drives the first clamping jaw to approach the workpiece along the X-axis direction until the first clamping jaw moves to the outer peripheral side of the spherical plain bearing and clamps the outer peripheral side of the spherical plain bearing; Step S800: The second rotary drive member drives the first clamping jaw and the joint bearing to rotate ninety degrees around the X-axis. After the installation is completed, the first clamping jaw releases the joint bearing and resets.

[0014] The assembly device, assembly equipment, and assembly method of the present application have at least the following beneficial effects: (1) The assembly device of the present application can realize the automated assembly of the spherical bearing, and is provided with a first rotary drive member and a second rotary drive member, respectively, which can realize the step-by-step rotary pressing of the spherical bearing. Compared with the traditional coaxial pressing equipment, the assembly device of the present application can prevent the spherical bearing from being squeezed over a large area at the same time, thereby preventing the spherical bearing from being damaged.

[0015] (2) The assembly method of the present application drives the mounting arm and the joint bearing downwardly into the bearing hole of the workpiece through the first Z-axis module. Before insertion, the outer peripheral surface of the joint bearing is aligned with the outward arc groove of the bearing hole. At this time, the joint bearing will not be subjected to extrusion force when it is inserted downward into the bearing hole and the outward arc groove. After insertion, the first rotary drive member drives the joint bearing to rotate ninety degrees around the Z-axis direction. During this rotation process, the joint bearing will not be subjected to extrusion. After rotating ninety degrees around the Z-axis direction, the second rotary drive member then drives the joint bearing to rotate ninety degrees around the X-axis direction. During this rotation process, only the maximum outer diameter position of the joint bearing will be squeezed by the inner peripheral wall of the bearing hole, and the squeezing does not occur at the same time, but is gradually squeezed as the joint bearing rotates around the X-axis direction. Therefore, the force area of ​​the joint bearing subjected to the squeezing force at the same time is much smaller than that of the joint bearing being directly pressed into the bearing hole coaxially, thereby greatly avoiding surface damage and internal hidden damage to the joint bearing during press-fitting, thereby ensuring the performance and stability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings: Figure 1 This is a cross-sectional schematic diagram of a spherical plain bearing coaxially pressed into a bearing hole in the prior art, with arrows indicating the direction in which the bearing hole presses the spherical plain bearing; Figure 2 Schematic diagram of the structure of the spherical plain bearing of the present application, FIG (A) shows the axonometric view of the spherical plain bearing, FIG (B) shows the plan view of the spherical plain bearing; Figure 3 It is a schematic diagram of the structure of the workpiece of this application; Figure 4 yes Figure 3 Enlarged view of point A in the middle; Figure 5 yes Figure 4 Schematic cross-section in the horizontal direction; Figure 6 is an axonometric view of the assembly device of Example 1 of the present application; Figure 7 yes Figure 6 Axonometric drawing of the positioning assembly; Figure 8 yes Figure 7 Enlarged view of point B in the middle; Figure 9 yes Figure 6 Axonometric drawing of the first mounting assembly; Figure 10 yes Figure 9 A schematic vertical cross-sectional view of the middle bearing connection portion; Figure 11 yes Figure 6 A front view of the second mounting assembly; Figure 12 is a flow chart of the assembly method in Example 1; Figure 13 It is a structural diagram of the assembly equipment of Example 2 of the present application; Figure 14 yes Figure 13 Schematic diagram of the assembly equipment with the robot hidden; Figure 15 yes Figure 13 Axonometric drawing of the loading device; Figure 16 yes Figure 13 A top view of the intermediate transfer device; Figure 17 yes Figure 16 Enlarged view of point C in the middle; Figure 18 yes Figure 13 Axonometric drawing of the mid-shaping turning device; Figure 19 yes Figure 18 Enlarged view of point D in the middle; Figure 20 is a flow chart of the assembly method in Example 2 of the present application; Description of the reference numerals is as follows: 10. Assembly device; 110, positioning assembly; 111, base; 112, positioning platform; 112a, positioning groove; 113, elastic member; 114, load-bearing platform; 115, first telescopic member; 116, rotary telescopic driving member; 117, pressing rod; 120, first mounting assembly; 121, first bracket; 122, first slide; 123, first Z-axis module; 124, mounting arm; 1241, bearing connection portion; 1242, clamping groove; 1243, negative pressure adsorption hole; 125, first rotary drive member; 130, second mounting assembly; 131, first X-axis module; 132, second slide; 133, second rotary drive member; 134, first clamp; 20. Loading device; 210. First Y-axis module; 220. Second Z-axis module; 230. Second clamping jaw; 30, transfer device; 310, second X-axis module; 320, feeding arm; 320a, limiting slot; 40. Shaping and turning device; 410. Shaping support; 420. Shaping slide; 421. Positioning pin; 422. Baffle; 430. Second telescopic member; 440. Shaping plate; 450. Third telescopic member; 460. Identification module; 470. Fourth telescopic member; 480. Third rotary drive member; 490. Third clamping claw; 50. Third X-axis module; 60, spherical plain bearing; 610, maximum annular surface; 70, workpiece; 70a, bearing hole; 70b, outward arc groove; 70c, movable arc groove; 80. Robotic arm. DETAILED DESCRIPTION

[0017] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0018] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0019] Example 1: This embodiment provides an assembly device and method for a spherical bearing. The assembly device 10 of this embodiment can assemble the spherical bearing 60 into the bearing hole 70a of the workpiece 70. In order to facilitate understanding of the technical solution of this embodiment, the spherical bearing 60 and the workpiece 70 of this embodiment are first described.

[0020] like Figure 2 As shown, the overall shape of the spherical plain bearing 60 of this embodiment is annular, with two axial end surfaces. The outer diameters of the two axial end surfaces are equal, both configured as outer diameter D5. Along the axial direction of the spherical plain bearing 60, a maximum annular surface 610 is located in the middle of the spherical plain bearing 60. This maximum annular surface 610 is perpendicular to the axial direction of the spherical plain bearing 60, and the outer diameter of this maximum annular surface 610 is configured as outer diameter D4. The outer diameter D4 corresponding to the maximum annular surface 610 is the maximum outer diameter of the spherical plain bearing 60. Along the axial direction of the spherical plain bearing 60, the outer diameter of the spherical plain bearing 60 gradually decreases from the maximum annular surface 610 to the axial end surfaces of the spherical plain bearing 60.

[0021] like Figures 3 to 5 As shown, the workpiece 70 of this embodiment is configured as a rocker arm for an automobile, and the workpiece 70 is provided with bearing holes 70a for mounting the spherical bearing 60 at both ends in its longitudinal direction. Figure 5 As shown, the inner peripheral contour line of the bearing hole 70a is as shown in FIG. Figure 5 As shown by the dotted line, the inner diameter of the bearing hole 70 a is shown as D1 , which is greater than or equal to the end surface outer diameter D5 of the spherical plain bearing 60 and less than or equal to the maximum outer diameter D4 of the spherical plain bearing 60 .

[0022] like Figure 5As shown, the inner circumferential wall of the bearing hole 70a is symmetrically provided with two outwardly expanded arc grooves 70b that are concave outwardly away from the axis of the bearing hole 70a in the X-axis direction. The outwardly expanded arc groove 70b has a U-shape when viewed from above in the Z-axis direction. The outwardly expanded arc groove 70b is configured as a through groove along the Z-axis direction, wherein the inner diameter of the outwardly expanded arc groove 70b is configured as D2, D2 is greater than D1, and the groove width d2 of the outwardly expanded arc groove 70b in the X-axis direction is greater than or equal to the axial thickness d1 of the spherical bearing 60, so that the spherical bearing 60 can be vertically inserted into the outwardly expanded arc groove 70 along the Z-axis direction. b; the inner circumferential wall of the bearing hole 70a is symmetrically provided with two movable arc grooves 70c that are concave outwardly away from the axis of the bearing hole 70a about the Y-axis. The cross-section of the movable arc groove 70c is configured to be U-shaped. In the circumferential direction of the bearing hole, the movable arc groove 70c is connected to the outward-expanding arc groove 70b. The inner diameter of the movable arc groove 70c is configured to be D3, D3 is greater than D1, and D3 is less than or equal to D2. When the spherical plain bearing 60 is assembled, the inner circumferential surface of the movable arc groove 70c is in a clearance fit or in close contact with the outer circumferential surface of the spherical plain bearing 60. The spherical plain bearing 60 and the bearing hole 70a described in this embodiment can be referred to the prior art.

[0023] like Figure 6 As shown, in order to facilitate understanding of the technical solution of this embodiment, the directions of the drawings of this embodiment are first defined as follows: the first horizontal direction is defined as the X-axis direction, the second horizontal direction is defined as the Y-axis direction, and the height direction is defined as the Z-axis direction. The X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other, forming a three-dimensional rectangular coordinate system in space.

[0024] like Figure 6 As shown, the assembly device 10 of this embodiment is first described. The assembly device 10 of this embodiment includes a positioning component 110, a first mounting component 120 and a second mounting component 130. The positioning component 110 is used for positioning the workpiece 70, and the first mounting component 120 and the second mounting component 130 are used for assembling the joint bearing 60.

[0025] like Figure 7 As shown, the positioning assembly 110 is used to place and position the workpiece 70 to ensure smooth assembly. In this embodiment, the positioning assembly 110 includes a base 111, a positioning platform 112, an elastic member 113, a bearing platform 114 and a first telescopic member 115, which are specifically as follows: like Figure 7 and Figure 8As shown, the base 111 is fixedly arranged on the base surface, and the positioning platform 112 is slidably connected to the base 111 along the Z-axis direction. The positioning platform 112 can slide up and down relative to the base 111 in the Z-axis direction. Preferably, a guide column extending along the Z-axis direction is provided between the base 111 and the positioning platform 112, and the positioning platform 112 slides with the guide column; a positioning groove 112a is provided at the upper end of the positioning platform 112, and the shape of the positioning groove 112a matches the shape of the end of the workpiece 70. During assembly, the end of the workpiece 70 is arranged in the positioning groove 112a, thereby limiting the displacement of the workpiece 70 in the horizontal direction and realizing the positioning of the workpiece 70.

[0026] like Figure 7 As shown, the elastic member 113 is disposed between the base 111 and the positioning platform 112. The elastic member 113 extends and contracts in the Z-axis direction. In this embodiment, the elastic member 113 is preferably a spring. The elastic member 113 is coaxially sleeved on the outer circumference of the guide post. The upper end of the elastic member 113 abuts against the positioning platform 112, and the lower end of the elastic member 113 abuts against the base 111. When the mounting arm 124 of the first mounting assembly 120 drives the spherical plain bearing 60 to be assembled downwardly into the bearing hole 70a of the workpiece 70, the elastic member 113 prevents the mounting arm 124 and the bearing from rigidly contacting the workpiece 70, thereby preventing structural damage.

[0027] like Figure 7 As shown, the force-bearing platform 114 is slidably connected to the base 111, and the sliding direction of the force-bearing platform 114 is configured as the Y-axis direction. The force-bearing platform 114 can slide to the bottom of the positioning platform 112, or slide away from the bottom of the positioning platform 112. When the force-bearing platform 114 slides to the bottom of the positioning platform 112, it can support the positioning platform 112 in the Z-axis direction, ensuring that the joint bearing 60 can be smoothly installed into the bearing hole 70a of the workpiece 70 along the Z-axis direction.

[0028] like Figure 7 As shown, the first telescopic member 115 is configured as a linear driving component such as a telescopic cylinder and a sliding cylinder. The first telescopic member 115 is indirectly connected to the base 111. The telescopic end of the first telescopic member 115 is connected to the force-bearing platform 114. The telescopic direction of the first telescopic member 115 is configured as the Y-axis direction, and the force-bearing platform 114 is driven to slide in the Y-axis direction by the first telescopic member 115.

[0029] like Figure 8As shown, in some preferred embodiments, the positioning assembly 110 also includes a rotating and telescopic driving member 116, which is connected to one side of the positioning platform 112. The action end of the rotating and telescopic driving member 116 is provided with a clamping rod 117, which is used to clamp the workpiece 70 on the positioning platform 112 along the Z-axis direction, thereby ensuring the stability of the workpiece 70 when assembling the joint bearing 60. Among them, the rotating and telescopic driving member 116 can drive the clamping rod 117 to rotate around the Z-axis direction and to move linearly in the Z-axis direction. When it is necessary to clamp the workpiece 70, the clamping rod 117 rotates to the top of the workpiece 70 and then presses down. After the assembly is completed, when the workpiece 70 needs to be removed, the clamping rod 117 moves up to release the workpiece 70 and rotates out of the way, making it easier for other mechanical structures to remove the workpiece 70. In some preferred embodiments, the lower surface of the clamping rod 117 is provided with a flexible pad, and the clamping rod 117 contacts the upper surface of the workpiece 70 through the flexible pad to avoid crushing the workpiece 70. The specific structural form of the rotary telescopic driving member 116 can refer to the existing rotary downward pressure cylinder.

[0030] like Figure 9 As shown, the first mounting assembly 120 includes a first bracket 121, a first slide 122, a first Z-axis module 123, a mounting arm 124 and a first rotary drive member 125, as follows: like Figure 9 As shown, the first bracket 121 is arranged on one side of the base 111 along the Y-axis direction, the first slide 122 is slidably connected to the first bracket 121, and the sliding direction of the first slide 122 is configured to be the Z-axis direction; the first Z-axis module 123 is arranged on the first bracket 121, and the first Z-axis module 123 is connected to the first slide 122, and is used to drive the first slide 122 to perform linear motion in the Z-axis direction; the mounting arm 124 is rotatably connected to the first slide 122, and the mounting arm 124 can rotate around the Z-axis. The mounting arm 124 is axially arranged in the Z-axis direction. The upper end of the mounting arm 124 is rotatably connected to the first slide 122. The lower end of the mounting arm 124 is provided with a bearing connection portion 1241. The spherical plain bearing 60 to be assembled is connected to the bearing connection portion 1241. The first rotary drive member 125 is provided on the first slide 122. The output end of the first rotary drive member 125 is connected to the mounting arm 124. The mounting arm 124 can be driven to rotate by the first rotary drive member 125. In this embodiment, the first rotary drive member 125 includes a motor.

[0031] like Figure 10As shown, in some preferred embodiments, the bearing connection portion 1241 of the mounting arm 124 includes a clamping groove 1242, which is provided at the lower end of the mounting arm 124. The clamping groove 1242 is a through groove that is conductive in the horizontal direction. The inner top surface of the clamping groove 1242 is provided with a negative pressure adsorption hole 1243, which can be connected to an external negative pressure source. The clamping groove 1242 is sleeved on the spherical plain bearing 60 to be assembled, and the negative pressure adsorption hole 1243 on the top is connected to the outer circumferential surface of the spherical plain bearing 60 by generating negative pressure through the negative pressure source, thereby achieving connection between the mounting arm 124 and the spherical plain bearing 60.

[0032] like Figure 10 As shown, in some preferred embodiments, the inner width of the clamping groove 1242 is equal to or slightly greater than the axial thickness of the spherical plain bearing 60. For example, the inner width of the clamping groove 1242 is 1 to 1.3 times, preferably 1.05 to 1.1 times, the axial thickness of the spherical plain bearing 60. When the clamping groove 1242 is mounted on the spherical plain bearing 60, the two inner side surfaces of the clamping groove 1242 in the horizontal direction respectively overlap the two axial end surfaces of the spherical plain bearing 60 in parallel.

[0033] like Figure 11 As shown, the second mounting assembly 130 includes a first X-axis module 131, a second slide 132, a second rotary drive member 133 and a first clamp 134, specifically as follows: like Figure 11 As shown, the first X-axis module 131 is arranged on one side of the base 111 along the X-axis direction, and the second slide 132 is arranged on the first X-axis module 131. The first X-axis module 131 drives the second slide 132 to approach or move away from the joint bearing 60 in the X-axis direction. The second rotary drive member 133 is arranged on the second slide 132, and the first clamp 134 is connected to the output end of the second rotary drive member 133. The second rotary drive member 133 can drive the first clamp 134 to rotate around the X-axis direction. The first clamp 134 is used to clamp or loosen the outer circumference of the joint bearing 60. The first clamp 134 refers to the existing cylinder finger.

[0034] like Figure 12 As shown, this embodiment 1 also discloses a method for assembling a spherical plain bearing. The method uses the above-mentioned assembly device 10 and includes the following steps: In step A100 , an external manipulator places the workpiece 70 on the positioning assembly 110 . Specifically, the external manipulator places the workpiece 70 on the positioning table 112 , with the end of the workpiece 70 positioned within the positioning groove 112 a of the positioning table 112 . The pressing rod 117 rotates and presses the workpiece 70 . In step A200, the bearing connection portion 1241 of the mounting arm 124 is connected to the spherical plain bearing 60 to be assembled, and the outer peripheral surface of the spherical plain bearing 60 is aligned with the outwardly expanded arc groove 70b of the bearing hole 70a in the Z-axis direction. Specifically, the bearing connection portion 1241 moves downward and connects to the spherical plain bearing 60 to be assembled. The spherical plain bearing 60 to be assembled corresponds to the bearing hole 70a of the workpiece 70 in the vertical direction. Since the spherical plain bearing 60 is vertical when the mounting arm 124 is removing the material (i.e., the axial direction of the spherical plain bearing 60 is the X-axis direction), the spherical plain bearing 60 and the outwardly expanded arc groove 70b of the bearing hole 70a are aligned in the Z-axis direction. In step A300, the mounting arm 124 drives the spherical plain bearing 60 to move downward along the Z-axis direction until the spherical plain bearing 60 is installed in the bearing hole 70a and the outward-expanding arc groove 70b. Specifically, the first Z-axis module 123 drives the mounting arm 124 and the spherical plain bearing 60 to be assembled to insert downward into the bearing hole 70a. The insertion stops when it reaches a predetermined depth. Generally, the mounting arm 124 stops downward movement when the axis of the spherical plain bearing 60 reaches 1 / 2 the depth of the bearing hole 70a. Due to the design of the outward-expanding arc groove 70b, the spherical plain bearing 60 is not subjected to any squeezing force during the process of vertically inserting the spherical plain bearing 60 into the bearing hole 70a. In step A400, the first rotary drive member 125 drives the mounting arm 124 and the spherical plain bearing 60 to rotate 90 degrees about the Z-axis in the bearing hole 70 a. Specifically, the spherical plain bearing 60 rotates 90 degrees about the axis of the bearing hole 70 a (i.e., the Z-axis). After the rotation is completed, the mounting arm 124 returns to its original position. During the rotation of the spherical plain bearing 60 about the Z-axis, the outer peripheral surface of the spherical plain bearing 60 is not compressed. In step A500, the first X-axis module 131 drives the first clamping jaw 134 to approach the workpiece 70 along the X-axis direction until the first clamping jaw 134 moves to the outer peripheral side of the spherical plain bearing 60 and clamps the outer peripheral side of the spherical plain bearing 60. Specifically, after the spherical plain bearing 60 rotates 90 degrees about the Z-axis direction, the first X-axis module 131 of the second mounting assembly 130 drives the second slide 132, the second rotary drive member 133, and the first clamping jaw 134 to gradually approach the spherical plain bearing 60 on the workpiece 70 along the X-axis direction until the first clamping jaw 134 is located outside the spherical plain bearing 60. Then, the first clamping jaw 134 clamps the outer peripheral surface of the spherical plain bearing 60. In step A600, the second rotating drive member 133 drives the first clamping jaw 134 and the joint bearing 60 to rotate ninety degrees around the X-axis direction. After the installation is completed, the first clamping jaw 134 releases the joint bearing 60 and resets it. Specifically, the second rotating drive member 133 and the first clamping jaw 134 drive the joint bearing 60 to rotate ninety degrees around the X-axis direction, so that the joint bearing 60 is in close contact or clearance fit with the movable arc groove 70c in the bearing hole 70a, and the joint bearing 60 is coaxial with the bearing hole 70a, thereby completing the installation of the joint bearing 60. It should be noted that in the process of the joint bearing 60 rotating around the X-axis direction, the area of ​​the joint bearing 60 being squeezed at the same time is limited, and the joint bearing 60 still has space for deformation in its radial direction, which can release stress and avoid damage.

[0035] This embodiment uses the first installation component 120 to drive the joint bearing 60 to be inserted into the bearing hole 70a along the Z-axis direction, and then the first installation component 120 drives the joint bearing 60 to rotate ninety degrees around the Z-axis. Then the second installation component 130 drives the joint bearing 60 to rotate ninety degrees around the X-axis direction to complete the installation. This embodiment adopts step-by-step spinning, first pressing in vertically, then rotating, and then rotating and leveling. During the whole process, the joint bearing 60 has space for deformation and the area squeezed is small. It can greatly avoid surface damage and internal hidden damage of the joint bearing 60 during press-fitting, thereby ensuring the performance and stability of the product.

[0036] Example 2: like Figure 13 and Figure 14 As shown, the second embodiment discloses an assembly device for a joint bearing, which includes a loading device 20, a transfer device 30 and the assembly device 10 described in the first embodiment; the loading device 20 is used to transfer the joint bearing 60 to be assembled from the loading position to the transfer device 30, and the transfer device 30 then transports the joint bearing 60 to the bottom of the mounting arm 124, so that it can be picked up by the bearing connection part 1241 at the lower end of the mounting arm 124.

[0037] like Figure 15 As shown, the loading device 20 includes a first Y-axis module 210, a second Z-axis module 220 and a second clamp 230. The first Y-axis module 210 is arranged on one side of the assembly device 10, and the second Z-axis module 220 is connected to the first Y-axis module 210. The second Z-axis module 220 is driven by the first Y-axis module 210 to move in the Y-axis direction. The second Z-axis module 220 is used to drive the second clamp 230 to perform linear lifting motion in the Z-axis direction. The second clamp 230 refers to the existing cylinder fingers and is used to clamp the joint bearing 60 to be assembled.

[0038] like Figure 16As shown, the transfer device 30 includes a second X-axis module 310 and a feeding arm 320; the second X-axis module 310 is arranged below the mounting arm 124, and the second X-axis module 310 is extended along the X-axis direction to drive the feeding arm 320 to perform linear motion in the X-axis direction; the feeding arm 320 is connected to the second X-axis module 310, and the feeding arm 320 can move along the X-axis direction to directly below the mounting arm 124.

[0039] like Figure 17 As shown, the feed arm 320 is provided with a limiting groove 320a, which is used to install the spherical plain bearing 60 to be assembled. After the second clamping jaw 230 of the loading device 20 picks up the spherical plain bearing 60 to be assembled from the loading position, it is transferred to the limiting groove 320a. The inner width of the limiting groove 320a in the X-axis direction is equal to or slightly larger than the axial thickness of the spherical plain bearing 60. For example, the inner width of the limiting groove 320a is 1.05 to 1.2 times the axial thickness of the spherical plain bearing 60. The spherical plain bearing 60 is placed vertically in the limiting groove 320a. That is, when the spherical plain bearing 60 is placed in the limiting groove 320a, the axial direction of the spherical plain bearing 60 is parallel to the X-axis direction, so that after the bearing connecting portion 1241 of the mounting arm 124 picks up the spherical plain bearing 60, the spherical plain bearing 60 is in a vertical posture. In some preferred embodiments, the number of the feed arms 320 can be one or more, and the specific design is based on actual needs.

[0040] like Figure 14 and Figure 18 As shown, in the second embodiment, the assembly equipment preferably also includes a shaping and turning device 40. If the workpiece 70 is not facing up when it is received, the workpiece 70 needs to be turned over by the shaping and turning device 40, and the shaping and turning device 40 can also shape and position the workpiece 70 to facilitate the external robot to accurately pick up the workpiece 70.

[0041] like Figure 18 As shown, the shaping and turning device 40 includes a shaping support 410, a shaping slide 420, a second telescopic member 430, a shaping plate 440, a third telescopic member 450, an identification module 460, a fourth telescopic member 470, a third rotary drive member 480 and a third clamping jaw 490, as follows: like Figure 18 and Figure 19As shown, the shaping support 410 is arranged on one side of the assembly device 10. For example, the shaping support 410 is located on the side of the assembly device 10 away from the loading device 20 in the X-axis direction. The shaping slide 420 is slidably connected to the shaping support 410. The sliding direction of the shaping slide 420 is configured to be the Y-axis direction. A positioning pin 421 is provided on the shaping slide 420. The positioning pin 421 is used to cooperate with the bearing hole 70a at the end of the workpiece 70 to realize the positioning of the workpiece 70. , wherein the outer diameter of the positioning pin 421 is equal to or slightly smaller than the inner diameter of the bearing hole 70a. For example, the outer diameter of the positioning pin 421 is 0.8 to 1 times the inner diameter of the bearing hole 70a. A baffle 422 is further provided on the shaping slide 420. The baffle 422 can cooperate with the shaping plate 440 to achieve position shaping of the workpiece 70. The baffle 422 is vertically arranged on the upper surface of the shaping slide 420, and the baffle 422 and the shaping plate 440 are arranged opposite to each other in the X-axis direction. like Figure 18 As shown, the second telescopic member 430 is provided on the shaping support 410. The second telescopic member 430 is configured as a telescopic cylinder or an electric push rod. The telescopic end of the second telescopic member 430 is connected to the shaping slide 420. The shaping slide 420 is driven by the second telescopic member 430 to perform linear motion in the Y-axis direction. like Figure 18 As shown, the shaping plate 440 is slidably connected to the upper surface of the shaping support 410 , the sliding direction of the shaping plate 440 is configured as the X-axis direction, and the workpiece 70 is located between the baffle 422 and the shaping plate 440 ; like Figure 18 As shown, the third telescopic member 450 is used to drive the shaping plate 440 to move in the X-axis direction. The third telescopic member 450 is configured as a telescopic cylinder. One end of the third telescopic member 450 is set on the shaping slide 420, and the telescopic end of the third telescopic member 450 is connected to the shaping plate 440.

[0042] like Figure 18 As shown, the identification module 460 is arranged directly above the shaping slide 420. The identification module 460 is used to identify the front and back sides of the workpiece 70 located on the shaping slide 420. The specific structural form of the identification module 460 refers to the existing technology and will not be repeated here.

[0043] like Figure 18 As shown, the fourth telescopic member 470 is arranged on the shaping support 410, and the fourth telescopic member 470 is located on one side of the shaping slide 420 along the Y-axis direction. The telescopic direction of the fourth telescopic member 470 is configured as the Z-axis direction. The fourth telescopic member 470 is used to drive the third rotating driving member 480 to move in the Z-axis direction; the fourth telescopic member 470 refers to the existing telescopic cylinder, slide cylinder, etc.

[0044] like Figure 18As shown, the third rotation driving member 480 is connected to the fourth telescopic member 470. The third rotation driving member 480 includes a motor. The third rotation driving member 480 is used to drive the third clamping jaw 490 to rotate around the Y-axis direction.

[0045] like Figure 19 As shown, the third clamping jaw 490 is connected to the output end of the third rotary driving member 480 . The third clamping jaw 490 is similar to the existing cylinder fingers and is used to clamp the workpiece 70 .

[0046] In the second embodiment, the assembly equipment preferably includes two assembly devices 10 in the first embodiment, and the two assembly devices 10 are spaced apart and arranged in parallel along the X-axis direction. It can be understood that the positioning components 110 of the two assembly devices 10 are also spaced apart and arranged in parallel along the X-axis direction.

[0047] In this embodiment, two assembly devices 10 are provided, which can simultaneously assemble the joint bearing 60 at both ends of the workpiece 70 to improve the assembly efficiency. That is, one end of the workpiece 70 is placed on one positioning component 110, and the other end of the workpiece 70 is placed on another positioning component 110.

[0048] like Figure 14 As shown, in the second embodiment, the assembly equipment preferably further includes a third X-axis module 50, which is connected to an assembly device 10. The third X-axis module 50 drives the assembly device 10 to move as a whole in the X-axis direction, thereby adjusting the distance between the two assembly devices 10, and achieving compatible assembly of workpieces 70 of different lengths, greatly expanding the applicability of the equipment. Specifically, the third X-axis module 50 includes a large base plate and a guide rail drive unit. The guide rail drive unit is fixedly arranged, and the large base plate is arranged on the guide rail drive unit. The guide rail drive unit can drive the large base plate to move linearly in the X-axis direction, and the positioning component 110, the first mounting component 120, and the second mounting component 130 of one of the assembly devices 10 are all arranged on the large base plate.

[0049] like Figure 20 As shown, this second embodiment also discloses a method for assembling a spherical plain bearing, which uses the above-mentioned assembly equipment and includes: In step S100, the manipulator 80 places the workpiece 70 to be assembled with the spherical plain bearing 60 on the positioning assembly 110. In the second embodiment, the following step S110 is preferably performed before placing the workpiece 70 on the positioning assembly 110: Step S110, the external manipulator 80 aligns a bearing hole 70a of the workpiece 70 with the positioning pin 421 on the shaping slide 420 and places the workpiece 70 on the shaping slide 420. The recognition module 460 above the shaping slide 420 recognizes the front and back sides of the workpiece 70. If the back side of the workpiece 70 is facing upward, the second telescopic member 430 drives the shaping slide 420 and the workpiece 70 to move toward the third clamp 490 until the end of the workpiece 70 enters the clamping position of the third clamp 490. Within the holding range, the third clamping jaw 490 clamps the end of the workpiece 70, and then the fourth telescopic member 470 drives the third clamping jaw 490 and the workpiece 70 to move upward to a predetermined height and then stop, and the third rotary driving member 480 drives the workpiece 70 to turn over. After the turning is completed, the fourth telescopic member 470 descends and puts the workpiece 70 back on the shaping slide 420 again, and then the position and posture of the workpiece 70 are shaped. If the workpiece 70 is facing up, the position and posture of the workpiece 70 are directly shaped; Position and posture shaping: The third telescopic member 450 drives the shaping plate 440 to move, and the shaping plate 440 pushes the workpiece 70 against the baffle 422 of the shaping slide 420, thereby shaping the position and posture of the workpiece 70; After the shaping is completed, the workpiece 70 is placed on the positioning assembly 110, including the following steps S120 and S130; In step S120 , the external robot 80 places the workpiece 70 on the positioning assembly 110 , with one end of the workpiece 70 disposed in the positioning groove 112 a of one positioning platform 112 , and the other end of the workpiece 70 disposed in the positioning groove 112 a of the other positioning platform 112 ; Step S130 : The positioning assembly 110 presses and limits the workpiece 70 , and at the same time, the load-bearing platform 114 of the positioning assembly 110 moves to the bottom of the positioning platform 112 to support the positioning platform 112 ; In step S200, the loading device 20 loads the spherical plain bearing 60 to be assembled from the loading position along the X-axis and Z-axis directions onto the transfer device 30. Specifically, the first Y-axis module 210 of the loading device 20 drives the second clamping jaw 230 to move to the loading position, and the second Z-axis module 220 drives the second clamping jaw 230 to downwardly clamp the spherical plain bearing 60 at the loading position. Then, the second clamping jaw 230 places the spherical plain bearing 60 on the feeding arm 320 of the transfer device 30 through the cooperation of the first Y-axis module 210 and the second Z-axis module 220. The spherical plain bearing 60 is vertically placed in the limiting groove 320a of the feeding arm 320. In step S300, the transfer device 30 transfers the spherical plain bearing 60 to be assembled to the lower side of the mounting arm 124 of the assembly device 10. Specifically, the second X-axis module 310 of the transfer device 30 drives the feeding arm 320 to move along the X-axis direction to the position directly below the mounting arm 124. The limiting groove 320a and the spherical plain bearing 60 to be assembled are aligned with the bearing connection portion 1241 at the lower end of the mounting arm 124. In step S400, the mounting arm 124 moves downward along the Z-axis direction driven by the first Z-axis module 123 until the bearing connecting portion 1241 is connected to the spherical bearing 60, and the outer peripheral surface of the spherical bearing 60 is aligned with the outward arc groove 70b of the bearing hole 70a in the Z-axis direction. Specifically, the mounting arm 124 moves downward, the bearing connecting portion 1241 is inserted into both sides of the spherical bearing 60, and the connection between the bearing connecting portion 1241 and the spherical bearing 60 is achieved by negative pressure adsorption. Since the spherical bearing 60 is vertical when it is picked up by the bearing connecting portion 1241, the posture of the spherical bearing 60 after being picked up is also vertical. After the mounting arm 124 is displaced, the spherical bearing 60 is aligned with the outward arc groove 70b of the bearing hole 70a in the Z-axis direction. If it is not aligned, the first rotary drive member 125 can be used to drive the spherical bearing 60 to rotate so that the spherical bearing 60 is aligned with the outward arc groove 70b. In step S500, the mounting arm 124 drives the spherical plain bearing 60 to move downward along the Z-axis direction until the spherical plain bearing 60 is installed in the bearing hole 70a and the outward-expanding arc groove 70b. Specifically, after the bearing connecting portion 1241 picks up the spherical plain bearing 60, the feeding arm 320 below the bearing connecting portion 1241 moves along the X-axis direction to make way for the space below. Then, the first Z-axis module 123 drives the mounting arm 124 and the spherical plain bearing 60 to be inserted into the bearing hole 70a and the outward-expanding arc groove 70b along the Z-axis direction. When the axis of the spherical plain bearing 60 moves downward to 1 / 2 the depth of the bearing hole 70a, the first Z-axis module 123 stops moving. Step S600: The first rotary drive member 125 drives the mounting arm 124 and the spherical bearing 60 to rotate 90 degrees around the Z-axis in the bearing hole 70 a. Specifically, the first rotary drive member 125 drives the mounting arm 124 and the spherical bearing 60 to rotate 90 degrees. After the rotation is completed, the bearing connection portion 1241 releases the spherical bearing 60 and returns it to its original position. In step S700, the first X-axis module 131 drives the first clamping jaw 134 to approach the workpiece 70 along the X-axis direction until the first clamping jaw 134 moves to the outer peripheral side of the spherical plain bearing 60 and clamps the outer peripheral side of the spherical plain bearing 60. Specifically, the first X-axis module 131 drives the second slide 132 and the first clamping jaw 134 to approach the spherical plain bearing 60 on the workpiece 70 along the X-axis direction. When the first clamping jaw 134 extends to the outer peripheral side of the spherical plain bearing 60, the first clamping jaw 134 clamps the outer peripheral surface of the spherical plain bearing 60. In step S800, the second rotating driving member 133 drives the first clamping jaw 134 and the spherical bearing 60 to rotate ninety degrees around the X-axis direction. After the installation is completed, the first clamping jaw 134 releases the spherical bearing 60 and resets it. Specifically, after the first clamping jaw 134 clamps the spherical bearing 60, the second rotating driving member 133 drives the first clamping jaw 134 and the spherical bearing 60 to rotate ninety degrees around the X-axis direction. The outer circumferential surface of the spherical bearing 60 is in close contact with the movable arc groove 70c of the bearing hole 70a or is in clearance fit, and the spherical bearing 60 is coaxial with the bearing hole 70a. At this time, the assembly of the spherical bearing 60 is completed.

[0050] The second embodiment of the present invention adopts step-by-step spinning, which is first vertically pressed in, then rotated, and then rotated to level. During the entire process, the joint bearing 60 has space to deform and the area squeezed is small. This can greatly avoid surface damage and internal hidden damage to the joint bearing 60 during press-fitting, thereby ensuring the performance and stability of the product.

[0051] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. An assembly device for a spherical bearing, characterized in that: include: A positioning assembly (110), wherein the workpiece (70) is disposed on the positioning assembly (110); The first mounting assembly (120) comprises a first bracket (121), a first slide (122), a first Z-axis module (123), a mounting arm (124) and a first rotational drive member (125); the first bracket (121) is arranged on one side of the positioning assembly (110); the first slide (122) is slidably arranged on the first bracket (121) along the Z-axis direction; the first Z-axis module (123) is connected to the first slide (122) and is used to drive the first slide (122) to move in the Z-axis direction; the mounting arm (124) is rotatably connected to the first slide (122), and one end of the mounting arm (124) is provided with a bearing connection portion (1241), and the bearing connection portion (1241) and the bearing hole (70a) of the workpiece (70) are correspondingly arranged in the Z-axis direction; the first rotational drive member (125) is connected to the mounting arm (124) and is used to drive the mounting arm (124) to rotate around the Z-axis direction; The second mounting assembly (130) includes a first X-axis module (131), a second slide (132), a second rotary drive member (133), and a first clamp (134); the first X-axis module (131) is connected to the second slide (132) and is used to drive the second slide (132) to approach and move away from the joint bearing (60) in the X-axis direction; the second rotary drive member (133) is arranged on the second slide (132), and the first clamp (134) is connected to the output end of the second rotary drive member (133) and is used to clamp the joint bearing (60), and drive the first clamp (134) and the joint bearing (60) to rotate around the X-axis direction through the second rotary drive member (133).

2. The assembly device according to claim 1, characterized in that The positioning assembly (110) includes a base (111), a positioning platform (112), an elastic member (113), a load-bearing platform (114), and a first telescopic member (115); The positioning platform (112) is connected to the base (111) in a sliding manner along the Z-axis direction; a positioning groove (112a) for positioning the workpiece (70) is provided on the positioning platform (112); an elastic member (113) is provided between the base (111) and the positioning platform (112), and the telescopic direction of the elastic member (113) is configured to be the Z-axis direction; a force-bearing platform (114) is provided on the base (111) in a sliding manner along the Y-axis direction, and is used to support the positioning platform (112) in the Z-axis direction; a first telescopic member (115) is connected to the force-bearing platform (114), and is used to drive the force-bearing platform (114) to move to the bottom of the positioning groove (112a) or to withdraw from the bottom of the positioning groove (112a) along the Y-axis direction.

3. The assembly device according to claim 2, characterized in that The positioning assembly (110) further includes a rotating telescopic driving member (116), wherein a fixed end of the rotating telescopic driving member (116) is arranged on the positioning platform (112), and a pressing rod (117) is provided at an action end of the rotating telescopic driving member (116). The rotating telescopic driving member is used to drive the pressing rod (117) to rotate around the Z-axis direction and move in the Z-axis direction, and the pressing rod (117) is used to press the workpiece (70) onto the positioning platform (112).

4. The assembly device according to claim 1, characterized in that The bearing connection portion (1241) comprises a clamping groove (1242); the inner top wall of the clamping groove (1242) is provided with a negative pressure adsorption hole (1243) for adsorbing the spherical bearing (60), and the negative pressure adsorption hole (1243) is connected to an external negative pressure source.

5. An assembly device for a spherical plain bearing, characterized in that: It comprises a loading device (20), a transfer device (30), and an assembly device (10) according to any one of claims 1 to 4; The loading device (20) is arranged on one side of the assembly device (10) along the X-axis direction, and is used to transfer the spherical bearing (60) to be assembled from the loading position to the transfer device (30); The transfer device (30) is arranged on the lower side of the mounting arm (124) of the assembly device (10) and is used to transport the spherical plain bearing (60) to be assembled along the X-axis direction; The two assembly devices (10) are spaced apart along the X-axis direction, and the transfer device (30) transfers the joint bearing (60) along the X-axis direction to the lower side of the installation arm (124).

6. The assembly equipment according to claim 5, characterized in that The loading device (20) includes a first Y-axis module (210), a second Z-axis module (220), and a second clamping jaw (230). The first Y-axis module (210) is arranged on one side of the assembly device (10) and is used to drive the second Z-axis module (220) to move in the Y-axis direction. The second Z-axis module (220) is connected to the first Y-axis module (210) and is used to drive the second clamping jaw (230) to move in the Z-axis direction. The second clamping jaw (230) is used to clamp the spherical bearing (60) to be assembled. The transfer device (30) includes a second X-axis module (310) and a feeding arm (320). The second X-axis module (310) is used to drive the feeding arm (320) to move in the X-axis direction. A limiting groove (320a) is provided on the feeding arm (320). The second clamping jaw (230) places the joint bearing (60) in the limiting groove (320a).

7. The assembly equipment according to claim 5, characterized in that The assembly equipment further includes a shaping and turning device (40); the shaping and turning device (40) includes a shaping support (410), a shaping slide (420), a second telescopic member (430), a shaping plate (440), a third telescopic member (450), an identification module (460), a fourth telescopic member (470), a third rotary drive member (480), and a third clamping claw (490); The shaping support (410) is arranged on one side of the assembly device (10) along the X-axis direction; the shaping slide (420) is slidably connected to the shaping support (410) along the Y-axis direction; the second telescopic member (430) is arranged on the shaping support (410) and connected to the shaping slide (420), and the telescopic direction of the second telescopic member (430) is configured to be the Y-axis direction; a positioning pin (421) is provided on the shaping slide (420), and the bearing hole (70a) of the workpiece (70) is sleeved on the positioning pin (421); a baffle (422) is provided on the shaping slide (420); the shaping plate (440) is located on one side of the baffle (422) along the X-axis direction; the third telescopic member (450) is provided on the shaping slide (420), and the third telescopic member (450) is provided on the shaping slide (420). The telescopic end of (450) is connected to the shaping plate (440) and is used to enable the shaping plate (440) to push the workpiece (70) to move along the X-axis direction toward the baffle (422); the identification module (460) is arranged at the upper end of the shaping slide (420) and is used to identify the front and back sides of the workpiece (70); the fourth telescopic member (470) is arranged on the shaping support (410), and the telescopic direction of the fourth telescopic member (470) is configured as the Z-axis direction; the third rotation driving member (480) is connected to the telescopic end of the fourth telescopic member (470), and the third rotation driving member (480) is used to drive the third clamping jaw (490) to rotate around the Y-axis direction; the third clamping jaw (490) is connected to the third rotation driving member (480) and is used to clamp the workpiece (70).

8. The assembly equipment according to claim 5, characterized in that Also includes a third X-axis module (50); Among the two assembly devices (10), one assembly device is connected to the third X-axis module (50), and the third X-axis module (50) is used to drive the assembly device to move in the X-axis direction.

9. A method for assembling a spherical bearing, characterized in that: Using the assembly device (10) according to any one of claims 1 to 4, the assembly method comprises: Step A100: The robot (80) places the workpiece (70) on the positioning assembly (110); Step A200: The bearing connection portion (1241) of the mounting arm (124) is connected to the spherical bearing (60) to be assembled, and the outer peripheral surface of the spherical bearing (60) is aligned with the outward arc groove (70b) of the bearing hole (70a) in the Z-axis direction; Step A300: The mounting arm (124) drives the joint bearing (60) to move downward along the Z-axis direction until the joint bearing (60) is installed into the bearing hole (70a) and the outward arc groove; Step A400: The first rotary drive member (125) drives the mounting arm (124) and the joint bearing (60) to rotate ninety degrees around the Z axis in the bearing hole (70a); Step A500: The first X-axis module (131) drives the first clamping jaw (134) to approach the workpiece (70) along the X-axis direction until the first clamping jaw (134) moves to the outer peripheral side of the joint bearing (60) and clamps the outer peripheral side of the joint bearing (60); In step A600, the second rotary drive member (133) drives the first clamping jaw (134) and the joint bearing (60) to rotate ninety degrees around the X-axis direction. After the installation is completed, the first clamping jaw (134) releases the joint bearing (60) and resets it.

10. A method for assembling a spherical bearing, characterized in that: Using the assembly device according to claim 5, the assembly method includes: Step S100: The robot (80) places the workpiece (70) on the positioning assembly (110); Step S200, the loading device (20) loads the spherical bearing (60) to be assembled from the loading position along the X-axis direction and the Z-axis direction onto the transfer device (30); Step S300: The transfer device (30) transfers the spherical plain bearing (60) to be assembled to the lower side of the mounting arm (124) of the assembly device; Step S400: The mounting arm (124) moves downward along the Z-axis direction under the drive of the first Z-axis module (123) until the bearing connection portion (1241) is connected to the joint bearing (60), and the outer peripheral surface of the joint bearing (60) is aligned with the outward arc groove (70b) of the bearing hole (70a) in the Z-axis direction; Step S500: The mounting arm (124) drives the joint bearing (60) to move downward along the Z-axis direction until the joint bearing (60) is installed into the bearing hole (70a) and the outward-expanding arc groove (70b); Step S600: The first rotary driving member (125) drives the mounting arm (124) and the joint bearing (60) to rotate ninety degrees around the Z axis in the bearing hole (70a); Step S700: The first X-axis module (131) drives the first clamping jaw (134) to approach the workpiece (70) along the X-axis direction until the first clamping jaw (134) moves to the outer peripheral side of the joint bearing (60) and clamps the outer peripheral side of the joint bearing (60); In step S800, the second rotary drive member (133) drives the first clamping jaw (134) and the joint bearing (60) to rotate ninety degrees around the X-axis direction. After the installation is completed, the first clamping jaw (134) releases the joint bearing (60) and resets it.

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