Assembly device, assembly apparatus and method for a knuckle bearing

Abstract

The application discloses an assembling device, an assembling equipment and a method of a knuckle bearing, relates to the field of bearing assembling, and the assembling device comprises a positioning assembly, a first mounting assembly and a second mounting assembly. The assembling device can realize automatic assembling of the knuckle bearing, can realize step-by-step rotary pressing of the knuckle bearing, and can avoid damage of the knuckle bearing. The assembling equipment comprises a feeding device, a transfer device and the assembling device, can realize automatic assembling of the bearing, and is suitable for assembling workpieces with different lengths and the knuckle bearing. The assembling method comprises the following steps that the knuckle bearing is vertically assembled into a bearing hole, then the knuckle bearing is rotated by 90 degrees around a Z-axis direction, and then the knuckle bearing is rotated by 90 degrees around an X-axis direction. The step of step-by-step rotary pressing can greatly avoid surface damage and internal damage of the knuckle bearing during pressing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bearing assembly, in particular to an assembly device, an assembly equipment and a method of joint bearing. BACKGROUND

[0002] The swing rod is an important part of the automobile electric door, and the end of the swing rod 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 in the drawing, the existing bearing assembly equipment coaxially presses the joint bearing into the bearing hole (reference numeral 70a') when assembling the joint bearing (reference numeral 60'), and each position of the bearing is simultaneously subjected to radial extrusion force when the bearing is pressed in. The stress area is too large, and the bearing is severely deformed and damaged. SUMMARY

[0003] The embodiment of the present application provides an assembly device, an assembly equipment and a method of joint bearing, which can realize automatic assembly of the joint bearing and reduce damage of the joint bearing.

[0004] In a first aspect, the present application discloses an assembly device of joint bearing, which comprises a positioning assembly, a first mounting assembly and a second mounting assembly, and a workpiece is arranged on the positioning assembly.

[0005] The first mounting assembly comprises a first support, a first sliding table, a first Z-axis module, a mounting arm and a first rotary driving member. The first support is arranged on one side of the positioning assembly. The first sliding table is slidingly arranged on the first support in the Z-axis direction. The first Z-axis module is connected with the first sliding table and used to drive the first sliding table to move in the Z-axis direction. The mounting arm is rotationally connected with the first sliding table. One end of the mounting arm is provided with a bearing connecting portion, which is arranged in correspondence with the bearing hole of the workpiece in the Z-axis direction. The first rotary driving member is connected with the mounting arm and used to drive the mounting arm to rotate around the Z-axis direction.

[0006] The second mounting assembly comprises a first X-axis module, a second sliding table, a second rotary driving member and a first clamping jaw. The first X-axis module is connected with the second sliding table and used to drive the second sliding table to move towards and away from the joint bearing in the X-axis direction. The second rotary driving member is arranged on the second sliding table. The first clamping jaw is connected with the output end of the second rotary driving member and used to clamp the joint bearing. The first clamping jaw and the joint bearing are driven by the second rotary driving member to rotate around the X-axis direction.

[0007] Preferably, the positioning assembly comprises a base, a positioning table, an elastic member, a force bearing table and a first telescopic member; the positioning table is slidingly connected to the base along the Z-axis direction; the positioning table is provided with a positioning groove for positioning the workpiece; the elastic member is arranged between the base and the positioning table, and the telescopic direction of the elastic member is configured as the Z-axis direction; the force bearing table is slidingly arranged on the base along the Y-axis direction, and is used for supporting the positioning table in the Z-axis direction; the first telescopic member is connected with the force bearing table, and is used for driving the force bearing table to move to below the positioning groove or to move away from below the positioning groove along the Y-axis direction.

[0008] Preferably, the positioning assembly further comprises a rotary telescopic driving member, a fixed end of the rotary telescopic driving member is arranged on the positioning table, and a movable end of the rotary telescopic driving member is provided with a pressing rod; the rotary telescopic driving member is used for driving the pressing rod to rotate around the Z-axis direction and to move in the Z-axis direction; and the pressing rod is used for pressing the workpiece on the positioning table.

[0009] Preferably, the bearing connecting part comprises a clamping groove; an inner top wall of the clamping groove is provided with a negative pressure adsorption hole for adsorbing the knuckle bearing, and the negative pressure adsorption hole is in communication with an external negative pressure source.

[0010] In a second aspect, the application discloses a joint bearing assembling device, comprising a feeding device, a transfer device and an assembling device; the feeding device is arranged on one side of the assembling device along the X-axis direction, and is used for transferring the joint bearing to be assembled from a feeding position to the transfer device; the transfer device is arranged on the lower side of the mounting arm of the assembling device, and is used for conveying the joint bearing to be assembled along the X-axis direction; two assembling devices are arranged at intervals along the X-axis direction, and the transfer device transfers the joint bearing to the lower side of the mounting arm along the X-axis direction.

[0011] Preferably, the feeding device comprises a first Y-axis module, a second Z-axis module and a second clamping jaw; the first Y-axis module is arranged on one side of the assembling device, and is used for driving 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 for driving the second clamping jaw to move in the Z-axis direction; the second clamping jaw is used for clamping the joint bearing to be assembled; the transfer device comprises a second X-axis module and a feeding arm; the second X-axis module is used for driving the feeding arm to move in the X-axis direction; the feeding arm is provided with a limiting groove; and the second clamping jaw places the joint bearing in the limiting groove.

[0012] Preferably, the assembling device further comprises a shaping and turning device; the shaping and turning device comprises a shaping support, a shaping sliding table, a second telescopic member, a shaping plate, a third telescopic member, an identification module, a fourth telescopic member, a third rotary driving member, and a third clamping jaw; the shaping support is arranged on one side of the assembling device along the X-axis direction; the shaping sliding table is slidingly connected to the shaping support along the Y-axis direction; the second telescopic member is arranged on the shaping support and connected with the shaping sliding table, and the telescopic direction of the second telescopic member is configured as the Y-axis direction; the shaping sliding table is provided with a positioning pin, and the bearing hole of the workpiece is sleeved on the positioning pin; the shaping sliding table is provided with a baffle; 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 sliding table, and the telescopic end of the third telescopic member is connected with the shaping plate, so as to realize that the shaping plate drives the workpiece to move along the X-axis direction towards the baffle; the identification module is arranged on the upper end of the shaping sliding table, and is used for identifying the front and back surfaces 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 driving member is connected to the telescopic end of the fourth telescopic member, and is used for driving the third clamping jaw to rotate around the Y-axis direction; the third clamping jaw is connected with the third rotary driving member, and is used for clamping the workpiece.

[0013] Preferably, the assembling device further comprises a third X-axis module; one of the two assembling devices is connected with the third X-axis module, and the third X-axis module is used for driving the assembling device to move along the X-axis direction.

[0014] In a third aspect, the present application provides an assembling method of a knuckle bearing, which uses the assembling device, and the assembling method comprises the following steps:

[0015] Step A100, the manipulator places the workpiece on the positioning assembly;

[0016] Step A200, the bearing connecting part of the mounting arm is connected with the knuckle bearing to be assembled, and the outer peripheral surface of the knuckle bearing is aligned with the outwardly expanded arc groove of the bearing hole in the Z-axis direction;

[0017] Step A300, the mounting arm drives the knuckle bearing to move downward along the Z-axis direction until the knuckle bearing is assembled into the bearing hole and the outwardly expanded arc groove;

[0018] Step A400, the first rotary driving member drives the mounting arm and the knuckle bearing to rotate ninety degrees around the Z-axis direction in the bearing hole;

[0019] Step A500, the first X-axis module drives the first clamping jaw to move along the X-axis direction and approach the workpiece until the first clamping jaw moves to the outer peripheral side of the knuckle bearing and clamps the outer peripheral side of the knuckle bearing;

[0020] Step A600, the second rotary driving member drives the first clamping jaw and the knuckle bearing to rotate ninety degrees around the X-axis direction, and after the mounting is completed, the first clamping jaw releases the knuckle bearing and resets.

[0021] In a fourth aspect, the application further provides another assembling method of the knuckle bearing, which uses the assembling device, and the assembling method comprises the following steps:

[0022] Step S100, the manipulator places the workpiece on the positioning assembly;

[0023] Step S200, the feeding device feeds the knuckle bearing to be assembled from the feeding position to the transfer device along the X-axis direction and the Z-axis direction;

[0024] Step S300, the transfer device transfers the knuckle bearing to be assembled to the lower side of the mounting arm of the assembling device;

[0025] Step S400, the mounting arm is driven by the first Z-axis module to move downward along the Z-axis direction until the bearing connecting part is connected with the knuckle bearing, and the outer circumferential surface of the knuckle bearing is aligned with the outwardly expanded arc groove of the bearing hole in the Z-axis direction;

[0026] Step S500, the mounting arm drives the knuckle bearing to move downward along the Z-axis direction until the knuckle bearing is assembled into the bearing hole and the outwardly expanded arc groove;

[0027] Step S600, the first rotary driving member drives the mounting arm and the knuckle bearing to rotate ninety degrees around the Z-axis direction in the bearing hole;

[0028] Step S700, the first X-axis module drives the first clamping jaw to move along the X-axis direction to approach the workpiece until the first clamping jaw moves to the outer circumferential side of the knuckle bearing and clamps the outer circumferential side of the knuckle bearing;

[0029] Step S800, the second rotary driving member drives the first clamping jaw and the knuckle bearing to rotate ninety degrees around the X-axis direction, and after the mounting is completed, the first clamping jaw releases the knuckle bearing and resets.

[0030] The assembling device, the assembling device and the method of the application have at least the following beneficial effects:

[0031] (1) The assembling device of the application can realize automatic assembly of the knuckle bearing, and the first rotary driving member and the second rotary driving member are respectively arranged, so that step-by-step rotary press fitting of the knuckle bearing can be realized. Compared with the traditional coaxial press fitting device, the assembling device of the application can avoid the knuckle bearing being pressed by a large area at the same time, thereby avoiding damage to the knuckle bearing.

[0032] (2) The assembling method of the application drives the mounting arm and the joint bearing downwards into the bearing hole of the workpiece through the first Z-axis module. Before insertion, the outer circumferential surface of the joint bearing is aligned with the outwardly expanded arc groove of the bearing hole. At this time, the joint bearing will not be subjected to extrusion force when being inserted into the bearing hole and the outwardly expanded arc groove. After insertion, the first rotary driving member drives the joint bearing to rotate by 90 degrees around the Z-axis direction. During this rotation process, the joint bearing will not be subjected to extrusion. After rotating by 90 degrees around the Z-axis direction, the second rotary driving member drives the joint bearing to rotate by 90 degrees around the X-axis direction. During this rotation process, only the position of the maximum outer diameter of the joint bearing will be subjected to extrusion by the inner circumferential wall of the bearing hole, and the extrusion does not occur simultaneously but gradually occurs during the rotation of the joint bearing around the X-axis direction. Therefore, the stress area of the joint bearing subjected to extrusion is far smaller than that of the joint bearing directly pressed downwards into the bearing hole in the coaxial direction, so that surface damage and internal damage of the joint bearing during pressing can be greatly avoided, and the performance and stability of the product can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0033] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The detailed description is made with reference to the accompanying drawings.

[0034] Figure 1 is a sectional view of the prior art joint bearing being pressed into the bearing hole in the coaxial direction, and the arrow shows the extrusion direction of the bearing hole to the joint bearing;

[0035] Figure 2 is a structural schematic view of the joint bearing of the application, Fig. (A) shows the axonometric view of the joint bearing, and Fig. (B) shows the plan view of the joint bearing;

[0036] Figure 3 is a structural schematic view of the workpiece of the application;

[0037] Figure 4 is Figure 3 an enlarged view of A in Fig.

[0038] Figure 5 is Figure 4 a sectional view in the horizontal direction;

[0039] Figure 6 is the axonometric view of the assembling device of the first embodiment of the application;

[0040] Figure 7 is Figure 6 the axonometric view of the positioning assembly in Fig.

[0041] Figure 8 is Figure 7Enlarged view of B in FIG. 1;

[0042] Figure 9 is Figure 6 Axonometric view of the first mounting assembly in FIG. 1;

[0043] Figure 10 is Figure 9 Vertical sectional view of the bearing connecting portion in FIG. 1;

[0044] Figure 11 is Figure 6 Front view of the second mounting assembly in FIG. 1;

[0045] Figure 12 is Flow chart of the assembly method in Embodiment One;

[0046] Figure 13 is

[0047] Schematic view of the assembly equipment in FIG. 2, with the robot hidden; Figure 14 Figure 13 is

[0048] Axonometric view of the feeding device in FIG. 2; Figure 15 Figure 13 is

[0049] Plan view of the transfer device in FIG. 2; Figure 16 Figure 13 is

[0050] Enlarged view of C in FIG. 2; Figure 17 Figure 16 is

[0051] Axonometric view of the shaping and turning device in FIG. 2; Figure 18 Figure 13 is

[0052] Enlarged view of D in FIG. 2; Figure 19 Figure 18 is

[0053] Flow chart of the assembly method in Embodiment Two; Figure 20 The following is an explanation of the reference numerals:

[0054] 10, assembly device;

[0055] 110, positioning assembly; 111, base; 112, positioning table; 112a, positioning groove; 113, elastic member; 114, force receiving table; 115, first telescopic member; 116, rotary telescopic driving member; 117, pressing rod;

[0056]

[0057] 120, first mounting assembly; 121, first support; 122, first sliding table; 123, first Z-axis module; 124, mounting arm; 1241, bearing connecting part; 1242, clamping groove; 1243, negative pressure adsorption hole; 125, first rotary driving part;

[0058] 130, second mounting assembly; 131, first X-axis module; 132, second sliding table; 133, second rotary driving part; 134, first clamping jaw;

[0059] 20, feeding device; 210, first Y-axis module; 220, second Z-axis module; 230, second clamping jaw;

[0060] 30, transfer device; 310, second X-axis module; 320, feeding arm; 320a, limiting groove;

[0061] 40, shaping and turning device; 410, shaping support; 420, shaping sliding table; 421, positioning pin; 422, baffle; 430, second telescopic part; 440, shaping plate; 450, third telescopic part; 460, identification module; 470, fourth telescopic part; 480, third rotary driving part; 490, third clamping jaw;

[0062] 50, third X-axis module;

[0063] 60, knuckle bearing; 610, maximum annular surface;

[0064] 70, workpiece; 70a, bearing hole; 70b, outwardly expanding arc groove; 70c, movable arc groove;

[0065] 80, mechanical hand. DETAILED DESCRIPTION

[0066] The features and exemplary embodiments of various aspects of the present application will be described in detail below with reference to the drawings. The following detailed description is provided to provide further understanding of the present application, and is not intended to limit the present application. The present application can be implemented without some of the specific details, which will be apparent to those skilled in the art. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

[0067] It is to be understood that the terminology used herein such as first and second, and the like, is only intended to distinguish one entity or action from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0068] Embodiment one:

[0069] The assembly device 10 of the embodiment can assemble the knuckle bearing 60 into the bearing hole 70a of the workpiece 70. In order to facilitate the understanding of the technical scheme of the embodiment, the knuckle bearing 60 and the workpiece 70 of the embodiment are first described.

[0070] As shown in Figure 2 , the overall shape of the knuckle bearing 60 of the embodiment is annular, and has two axial end faces in the axial direction. The outer diameters of the two axial end faces are equal and are configured as an outer diameter D5. Along the axial direction of the knuckle bearing 60, the knuckle bearing 60 has a maximum annular face 610 at the middle position. The maximum annular face 610 is perpendicular to the axial direction of the knuckle bearing 60, and the outer diameter of the maximum annular face 610 is configured as an outer diameter D4. The outer diameter D4 corresponding to the maximum annular face 610 is the maximum outer diameter of the knuckle bearing 60. Along the axial direction of the knuckle bearing 60, the outer diameter of the knuckle bearing 60 gradually decreases from the maximum annular face 610 to the axial end face of the knuckle bearing 60.

[0071] As shown in Figures 3 to 5 , the workpiece 70 of the embodiment is configured as a swing lever for a car, and the workpiece 70 is provided with a bearing hole 70a for mounting the knuckle bearing 60 at each end in the length direction. Figure 5 As shown in Figure 5 , the inner peripheral contour line of the bearing hole 70a is shown by the dashed line, and the inner diameter of the bearing hole 70a is shown as D1. D1 is greater than or equal to the outer diameter D5 of the end face of the knuckle bearing 60 and less than or equal to the maximum outer diameter D4 of the knuckle bearing 60.

[0072] As shown in Figure 5As shown, the inner circumferential wall of the bearing hole 70a is symmetrically provided with two outwardly recessed flared grooves 70b away from the axis of the bearing hole 70a with respect to the X-axis direction, the flared grooves 70b are U-shaped in plan view in the Z-axis direction, and the flared grooves 70b are configured as through grooves along the Z-axis direction, wherein the inner diameter of the flared grooves 70b is configured as D2, D2 is greater than D1, and the groove width d2 of the flared grooves 70b in the X-axis direction is greater than or equal to the axial thickness d1 of the joint bearing 60, so that the joint bearing 60 can be inserted vertically into the flared grooves 70b along the Z-axis direction; the inner circumferential wall of the bearing hole 70a is symmetrically provided with two outwardly recessed movable grooves 70c away from the axis of the bearing hole 70a with respect to the Y-axis direction, the cross-sectional shape of the movable grooves 70c is configured as U-shaped, and the movable grooves 70c communicate with the flared grooves 70b in the circumferential direction of the bearing hole, wherein the inner diameter of the movable grooves 70c is configured as D3, D3 is greater than D1, and D3 is less than or equal to D2, and when the joint bearing 60 is assembled, the inner circumferential surface of the movable grooves 70c is in clearance fit or in contact with the outer circumferential surface of the joint bearing 60. The joint bearing 60 and the bearing hole 70a described in this embodiment can refer to the prior art.

[0073] As shown in Figure 6 In order to facilitate understanding of the technical solutions of the present embodiment, first, the directions of the drawings of the present embodiment are 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 orthogonal coordinate system.

[0074] As shown in Figure 6 First, the assembly device 10 of the present embodiment is described, the assembly device 10 of the present embodiment includes a positioning assembly 110, a first mounting assembly 120 and a second mounting assembly 130, the positioning assembly 110 is used for positioning the workpiece 70, and the first mounting assembly 120 and the second mounting assembly 130 are used for assembling the joint bearing 60.

[0075] As shown in Figure 7 The positioning assembly 110 is used for placing and positioning the workpiece 70 to ensure the smooth progress of the assembly work. In the present embodiment, the positioning assembly 110 includes a base 111, a positioning table 112, an elastic member 113, a force receiving table 114 and a first telescopic member 115, which are specifically as follows:

[0076] As shown in Figure 7 and Figure 8As shown, the base 111 is fixedly arranged on the base surface, and the positioning table 112 is slidingly connected to the base 111 in the Z-axis direction. The positioning table 112 can slide up and down relative to the base 111 in the Z-axis direction. Preferably, a guide column extending in the Z-axis direction is arranged between the base 111 and the positioning table 112, and the positioning table 112 is slidingly matched with the guide column. The upper end of the positioning table 112 is provided with a positioning groove 112a, 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, so as to limit the displacement of the workpiece 70 in the horizontal direction, and realize the positioning of the workpiece 70.

[0077] As shown in Figure 7 The elastic member 113 is arranged between the base 111 and the positioning table 112, and the extension direction of the elastic member 113 is configured as 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 column, the upper end of the elastic member 113 abuts against the positioning table 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 joint bearing 60 to be assembled to be downwardly mounted into the bearing hole 70a of the workpiece 70, the elastic member 113 can avoid the rigid contact between the mounting arm 124 and the bearing and the workpiece 70, thereby avoiding causing structural damage.

[0078] As shown in Figure 7 The force-bearing table 114 is slidingly connected to the base 111, and the sliding direction of the force-bearing table 114 is configured as the Y-axis direction. The force-bearing table 114 can slide to the lower side of the positioning table 112 or slide away from the lower side of the positioning table 112. When the force-bearing table 114 slides to the lower side of the positioning table 112, the positioning table 112 can be supported in the Z-axis direction, so as to ensure that the joint bearing 60 can be smoothly mounted into the bearing hole 70a of the workpiece 70 in the Z-axis direction.

[0079] As shown in Figure 7 The first telescopic member 115 is configured as a linear driving component such as a telescopic cylinder or a sliding table 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 table 114, and the telescopic direction of the first telescopic member 115 is configured as the Y-axis direction. The force-bearing table 114 is driven to slide in the Y-axis direction by the first telescopic member 115.

[0080] As shown in Figure 8As shown, in some preferred embodiments, the positioning assembly 110 further comprises a rotary telescopic driving member 116 connected to one side of the positioning table 112, and the action end of the rotary telescopic driving member 116 is provided with a pressing rod 117 for pressing the workpiece 70 on the positioning table 112 along the Z-axis direction, thereby ensuring the stability of the workpiece 70 during assembly of the knuckle bearing 60. Among them, the rotary telescopic driving member 116 can drive the pressing rod 117 to rotate around the Z-axis direction and move linearly along the Z-axis direction. When the workpiece 70 needs to be pressed, the pressing rod 117 is rotated to the upper side of the workpiece 70 and then pressed down. When the workpiece 70 needs to be removed after assembly is completed, the pressing rod 117 is moved upward to loosen the workpiece 70 and is rotated to make room, so as to facilitate other mechanical structures to remove the workpiece 70. In some preferred modes, the lower surface of the pressing rod 117 is provided with a flexible pad, and the pressing rod 117 contacts the upper surface of the workpiece 70 through the flexible pad, so as to avoid bruising the workpiece 70. The specific structure of the rotary telescopic driving member 116 can refer to the existing rotary down pressure cylinder.

[0081] As shown in Figure 9 The first mounting assembly 120 comprises a first support 121, a first sliding table 122, a first Z-axis module 123, a mounting arm 124, and a first rotary driving member 125, as follows:

[0082] As shown in Figure 9 The first support 121 is arranged on one side of the base 111 along the Y-axis direction, the first sliding table 122 is slidingly connected to the first support 121, and the sliding direction of the first sliding table 122 is configured as the Z-axis direction. The first Z-axis module 123 is arranged on the first support 121 and connected with the first sliding table 122, and is used for driving the first sliding table 122 to move linearly along the Z-axis direction. The mounting arm 124 is rotationally connected to the first sliding table 122, and the mounting arm 124 can rotate around the Z-axis direction. The axial direction of the mounting arm 124 is configured as the Z-axis direction, the upper end of the mounting arm 124 is rotationally connected with the first sliding table 122, and the lower end of the mounting arm 124 is provided with a bearing connecting portion 1241, and the knuckle bearing 60 to be assembled is connected to the bearing connecting portion 1241. The first rotary driving member 125 is arranged on the first sliding table 122, and the output end of the first rotary driving member 125 is connected with the mounting arm 124, so that the first rotary driving member 125 can drive the mounting arm 124 to rotate. In this embodiment, the first rotary driving member 125 comprises an electric motor.

[0083] As shown in Figure 10As shown, in some preferred embodiments, the bearing connecting part 1241 of the mounting arm 124 includes a clamping groove 1242, which is arranged at the lower end of the mounting arm 124, the clamping groove 1242 is a horizontal through groove, and the inner top surface of the clamping groove 1242 is provided with a negative pressure suction hole 1243 which can communicate with an external negative pressure source. The clamping groove 1242 is sleeved on the joint bearing 60 to be assembled, and the negative pressure suction hole 1243 at the top is connected with the outer circumferential surface of the joint bearing 60 by negative pressure generated by the negative pressure source, so as to realize the connection between the mounting arm 124 and the joint bearing 60.

[0084] As shown in the figure, Figure 10 In some preferred embodiments, the inner width of the clamping groove 1242 is equal to or slightly larger than the axial thickness of the joint 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 joint bearing 60. When the clamping groove 1242 is sleeved on the joint bearing 60, the two inner sides of the clamping groove 1242 in the horizontal direction respectively cover the two axial end faces of the joint bearing 60.

[0085] As shown in the figure, Figure 11 The second mounting assembly 130 includes a first X-axis module 131, a second sliding table 132, a second rotary driving member 133, and a first clamping jaw 134, which are specifically as follows:

[0086] As shown in the figure, Figure 11 The first X-axis module 131 is arranged on one side of the base 111 along the X-axis direction, the second sliding table 132 is arranged on the first X-axis module 131, the second sliding table 132 is driven by the first X-axis module 131 to move towards or away from the joint bearing 60 along the X-axis direction, the second rotary driving member 133 is arranged on the second sliding table 132, the first clamping jaw 134 is connected to the output end of the second rotary driving member 133, the second rotary driving member 133 can drive the first clamping jaw 134 to rotate around the X-axis direction, and the first clamping jaw 134 is used to clamp or release the outer circumference of the joint bearing 60. The first clamping jaw 134 refers to the existing air cylinder finger.

[0087] As shown in the figure, Figure 12 The embodiment one also discloses an assembling method of a joint bearing, which uses the above-mentioned assembling device 10, and the assembling method includes the following steps:

[0088] Step A100, an external mechanical hand places a workpiece 70 on the positioning assembly 110, specifically: the external mechanical hand places the workpiece 70 on the positioning table 112, the end of the workpiece 70 is arranged in the positioning groove 112a of the positioning table 112, and the pressing rod 117 rotates and presses the workpiece 70;

[0089] Step A200, the bearing connecting part 1241 of the mounting arm 124 is connected with the joint bearing 60 to be assembled, the outer circumferential surface of the joint bearing 60 is aligned with the outer expansion arc groove 70b of the bearing hole 70a in the Z-axis direction, specifically: the bearing connecting part 1241 moves downward and is connected with the joint bearing 60 to be assembled, the joint bearing 60 to be assembled corresponds to the bearing hole 70a of the workpiece 70 up and down, and since the joint bearing 60 is vertical (that is, the axial direction of the joint bearing 60 is the X-axis direction) when the mounting arm 124 takes the material, the joint bearing 60 is aligned with the outer expansion arc groove 70b of the bearing hole 70a in the Z-axis direction;

[0090] 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 assembled into the bearing hole 70a and the outer expansion arc groove 70b, specifically: the first Z-axis module 123 drives the mounting arm 124 and the joint bearing 60 to be assembled to be inserted downward into the bearing hole 70a, and stops when inserted to a predetermined depth, generally, when the axis of the joint bearing 60 reaches 1 / 2 of the depth of the bearing hole 70a, the mounting arm 124 stops moving downward; wherein, due to the design of the outer expansion arc groove 70b, the joint bearing 60 will not be subjected to extrusion force during the process of being inserted vertically downward into the bearing hole 70a;

[0091] Step A400, the first rotary driving part 125 drives the mounting arm 124 and the joint bearing 60 to rotate ninety degrees in the bearing hole 70a around the Z-axis direction, specifically: the joint bearing 60 rotates ninety degrees around the axis of the bearing hole 70a (that is, the Z-axis direction), and after the rotation is completed, the mounting arm 124 is reset upward, and the outer circumferential surface of the joint bearing 60 will not be subjected to extrusion during the process of self-rotation of the joint bearing 60 around the Z-axis direction;

[0092] Step A500, the first X-axis module 131 drives the first clamping jaw 134 to move along the X-axis direction and approach the workpiece 70 until the first clamping jaw 134 moves to the outer circumferential side of the joint bearing 60 and clamps the outer circumferential side of the joint bearing 60, specifically: after the joint bearing 60 rotates ninety degrees around the Z-axis direction, the first X-axis module 131 of the second mounting assembly 130 drives the second sliding table 132, the second rotary driving part 133 and the first clamping jaw 134 to gradually approach the joint bearing 60 on the workpiece 70 along the X-axis direction until the first clamping jaw 134 is located on the outer side of the joint bearing 60, and then the first clamping jaw 134 clamps the outer circumferential surface of the joint bearing 60;

[0093] Step A600, the second rotary drive 133 drives the first jaw 134 and the joint bearing 60 to rotate 90 degrees around the X-axis direction. After installation, the first jaw 134 releases the joint bearing 60 and resets. Specifically: the second rotary drive 133 and the first jaw 134 drive the joint bearing 60 to rotate 90 degrees around the X-axis direction, so that the joint bearing 60 is in 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 during the rotation of the joint bearing 60 around the X-axis direction, the area of the joint bearing 60 subjected to extrusion at the same time is limited, and the joint bearing 60 still has deformation space in its radial direction, which can release stress and avoid damage.

[0094] The first mounting assembly 120 drives the joint bearing 60 to insert into the bearing hole 70a along the Z-axis direction, and then the first mounting assembly 120 drives the joint bearing 60 to rotate 90 degrees around the Z-axis. Then, the second mounting assembly 130 drives the joint bearing 60 to rotate 90 degrees around the X-axis direction, and the installation is completed. In this embodiment, by using step-by-step spinning, the joint bearing 60 is first vertically pressed in, then rotated, and then rotated and leveled. The joint bearing 60 has deformation space throughout the process and the area subjected to extrusion at the same time is small, which can greatly avoid surface damage and internal damage of the joint bearing 60 during pressing, and ensure the performance and stability of the product.

[0095] Embodiment two:

[0096] As shown in Figure 13 and Figure 14 , this embodiment two discloses a joint bearing assembly equipment, which comprises a feeding device 20, a transfer device 30 and the assembly device 10 described in embodiment one; the feeding device 20 is used to transfer the joint bearing 60 to be assembled from the feeding position to the transfer device 30, and the transfer device 30 then delivers the joint bearing 60 to the position directly below the mounting arm 124 for pickup by the bearing connecting part 1241 at the lower end of the mounting arm 124.

[0097] As shown in Figure 15 , the feeding device 20 comprises a first Y-axis module 210, a second Z-axis module 220 and a second jaw 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 jaw 230 to move linearly in the Z-axis direction. The second jaw 230 refers to the existing cylinder finger and is used to clamp the joint bearing 60 to be assembled.

[0098] As shown in Figure 16As shown, the conveying device 30 comprises 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 extends along the X-axis direction to drive the feeding arm 320 to move linearly along the X-axis direction. The feeding arm 320 is connected to the second X-axis module 310 and can move to the position directly below the mounting arm 124 along the X-axis direction.

[0099] As shown in Figure 17 , the feeding arm 320 is provided with a limiting groove 320a for mounting the joint bearing 60 to be assembled. After the second gripper 230 of the feeding device 20 picks up the joint bearing 60 to be assembled from the feeding 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 greater than the axial thickness of the joint bearing 60. For example, the inner width of the limiting groove 320a is 1.05 to 1.2 times the axial thickness of the joint bearing 60. The joint bearing 60 is placed vertically in the limiting groove 320a, that is, when the joint bearing 60 is placed in the limiting groove 320a, the axial direction of the joint bearing 60 is parallel to the X-axis direction, so that after the bearing connecting part 1241 of the mounting arm 124 picks up the joint bearing 60, the posture of the joint bearing 60 is vertical. In some preferred embodiments, the number of feeding arms 320 can be one or more, which is designed according to actual needs.

[0100] As shown in Figure 14 and Figure 18 , the assembling device preferably further comprises a shaping and turning device 40. If the workpiece 70 is not turned upside down when it is delivered, the shaping and turning device 40 is needed to turn the workpiece 70, and the shaping and turning device 40 can also shape and position the workpiece 70, so that the external manipulator can accurately pick up the workpiece 70.

[0101] As shown in Figure 18 , the shaping and turning device 40 comprises a shaping support 410, a shaping sliding table 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 driving member 480, and a third gripper 490, which are specifically as follows:

[0102] As shown in Figure 18 and Figure 19As shown, the shaping support 410 is arranged on one side of the assembling device 10, for example, the shaping support 410 is located on the side of the assembling device 10 away from the feeding device 20 in the X-axis direction, the shaping sliding table 420 is slidingly connected to the shaping support 410, and the sliding direction of the shaping sliding table 420 is configured as the Y-axis direction. The shaping sliding table 420 is provided with a positioning pin 421, which 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; The shaping sliding table 420 is also provided with a baffle 422, which can cooperate with the shaping plate 440 to realize the position shaping of the workpiece 70. The baffle 422 is vertically arranged on the upper surface of the shaping sliding table 420, and the baffle 422 and the shaping plate 440 are oppositely arranged in the X-axis direction;

[0103] As shown in the Figure 18 , the second telescopic piece 430 is arranged on the shaping support 410, and the second telescopic piece 430 is configured as a telescopic cylinder or an electric push rod. The telescopic end of the second telescopic piece 430 is connected with the shaping sliding table 420, and the second telescopic piece 430 drives the shaping sliding table 420 to move linearly in the Y-axis direction;

[0104] As shown in the Figure 18 , the shaping plate 440 is slidingly connected to the upper surface of the shaping support 410, and the sliding direction of the shaping plate 440 is configured as the X-axis direction. The workpiece 70 is located between the baffle 422 and the shaping plate 440.

[0105] As shown in the Figure 18 , the third telescopic piece 450 is used to drive the shaping plate 440 to move in the X-axis direction, and the third telescopic piece 450 is configured as a telescopic cylinder. One end of the third telescopic piece 450 is arranged on the shaping sliding table 420, and the telescopic end of the third telescopic piece 450 is connected with the shaping plate 440.

[0106] As shown in the Figure 18 , the identification module 460 is arranged directly above the shaping sliding table 420, and the identification module 460 is used to identify the front and back of the workpiece 70 located on the shaping sliding table 420. The specific structure of the identification module 460 is referred to the prior art, which will not be described here.

[0107] As shown in the Figure 18 , the fourth telescopic piece 470 is arranged on the shaping support 410, and the fourth telescopic piece 470 is located on one side of the shaping sliding table 420 along the Y-axis direction. The telescopic direction of the fourth telescopic piece 470 is configured as the Z-axis direction, and the fourth telescopic piece 470 is used to drive the third rotary driving piece 480 to move in the Z-axis direction. The fourth telescopic piece 470 refers to the existing telescopic cylinder, sliding table cylinder, etc.

[0108] As shown in the Figure 18As shown, the third rotary drive 480 is connected to the fourth telescopic member 470. The third rotary drive 480 includes a motor and is used to drive the third gripper 490 to rotate around the Y-axis.

[0109] like Figure 19 As shown, the third gripper 490 is connected to the output end of the third rotary drive 480. The third gripper 490 is referenced to the existing cylinder finger and is used to grip the workpiece 70.

[0110] In this second embodiment, the preferred assembly equipment includes two assembly devices 10 as described in the first embodiment. The two assembly devices 10 are spaced apart and arranged side by side along the X-axis. It can be understood that the positioning components 110 of the two assembly devices 10 are also spaced apart and arranged side by side along the X-axis.

[0111] In this embodiment, two assembly devices 10 are provided, which can simultaneously assemble the joint bearings 60 at both ends of the workpiece 70, thereby improving 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.

[0112] like Figure 14 As shown, in this preferred embodiment, the assembly equipment 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 along the X-axis, thereby adjusting the distance between the two assembly devices 10 and enabling 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 installed, and the large base plate is mounted 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. The positioning component 110, the first mounting component 120, and the second mounting component 130 of one of the assembly devices 10 are all mounted on the large base plate.

[0113] like Figure 20 As shown, this second embodiment also discloses an assembly method for a spherical plain bearing. This assembly method uses the aforementioned assembly equipment and includes the following steps:

[0114] In step S100, the robot arm 80 places the workpiece 70 of the spherical bearing 60 to be assembled onto the positioning assembly 110. In this second embodiment, preferably, before placing the workpiece 70 onto the positioning assembly 110, the following step S110 is performed:

[0115] Step S110, the external manipulator 80 aligns one bearing hole 70a of the workpiece 70 with the positioning pin 421 on the shaping slide table 420 and places the workpiece 70 on the shaping slide table 420, the identification module 460 above the shaping slide table 420 identifies the front and back of the workpiece 70, if the workpiece 70 is back up, the second telescopic part 430 drives the shaping slide table 420 and the workpiece 70 to move towards the third clamping jaw 490 until the end of the workpiece 70 enters the clamping range of the third clamping jaw 490, the third clamping jaw 490 clamps the end of the workpiece 70, then the fourth telescopic part 470 drives the third clamping jaw 490 and the workpiece 70 to move upwards by a predetermined height and stop, the third rotary drive part 480 drives the workpiece 70 to turn over, after turning over, the fourth telescopic part 470 descends by a height and places the workpiece 70 back on the shaping slide table 420, then the workpiece 70 is shaped in position and posture, and if the workpiece 70 is front up, the workpiece 70 is directly shaped in position and posture;

[0116] Position and posture shaping: the third telescopic part 450 drives the shaping plate 440 to move, the shaping plate 440 pushes the workpiece 70 to abut against the baffle 422 of the shaping slide table 420, so as to shape the workpiece 70 in position and posture;

[0117] After shaping is completed, the workpiece 70 is placed on the positioning assembly 110, including the following steps S120 and step S130;

[0118] Step S120, the external manipulator 80 places the workpiece 70 on the positioning assembly 110, one end of the workpiece 70 is arranged in the positioning groove 112a of one positioning table 112, and the other end of the workpiece 70 is arranged in the positioning groove 112a of another positioning table 112;

[0119] Step S130, the positioning assembly 110 presses and limits the workpiece 70, and meanwhile the bearing table 114 of the positioning assembly 110 moves to the lower side of the positioning table 112 to support the positioning table 112;

[0120] Step S200, the feeding device 20 feeds the joint bearing 60 to be assembled from the feeding position to the transfer device 30 in the X-axis direction and the Z-axis direction, specifically: the first Y-axis module 210 of the feeding device 20 drives the second clamping jaw 230 to move to the feeding position, the second Z-axis module 220 drives the second clamping jaw 230 to downwardly clamp the joint bearing 60 at the feeding position, then the second clamping jaw 230 is placed on the feeding arm 320 of the transfer device 30 through cooperation of the first Y-axis module 210 and the second Z-axis module 220, and the joint bearing 60 is placed vertically in the limiting groove 320a of the feeding arm 320;

[0121] Step S300, the transfer device 30 transfers the joint bearing 60 to be assembled to the lower side of the mounting arm 124 of the assembling 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 joint bearing 60 to be assembled are aligned with the bearing connecting part 1241 at the lower end of the mounting arm 124;

[0122] Step S400, the mounting arm 124 is driven by the first Z-axis module 123 to move downward along the Z-axis direction until the bearing connecting part 1241 is connected with the joint bearing 60, and the outer circumferential surface of the joint bearing 60 is aligned with the outer expansion arc groove 70b of the bearing hole 70a in the Z-axis direction, specifically: the mounting arm 124 moves downward, the bearing connecting part 1241 is inserted into the two sides of the joint bearing 60, and the connection between the bearing connecting part 1241 and the joint bearing 60 is realized by the negative pressure adsorption, since the joint bearing 60 is picked up by the bearing connecting part 1241, the posture of the joint bearing 60 after being picked up is also vertical, after the mounting arm 124 is displaced, the joint bearing 60 is aligned with the outer expansion arc groove 70b of the bearing hole 70a in the Z-axis direction, if it is not in the aligned state, the first rotating drive 125 can be used to drive the joint bearing 60 to rotate to make the joint bearing 60 aligned with the outer expansion arc groove 70b;

[0123] 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 loaded into the bearing hole 70a and the outer expansion arc groove 70b, specifically: after the bearing connecting part 1241 picks up the joint bearing 60, the feeding arm 320 below the bearing connecting part 1241 moves along the X-axis direction to open the space below, then the first Z-axis module 123 drives the mounting arm 124 and the joint bearing 60 to insert into the bearing hole 70a and the outer expansion arc groove 70b along the Z-axis direction, when the axis of the joint bearing 60 moves downward to 1 / 2 depth of the bearing hole 70a, the first Z-axis module 123 stops moving;

[0124] Step S600, the first rotating drive 125 drives the mounting arm 124 and the joint bearing 60 to rotate ninety degrees around the Z-axis direction in the bearing hole 70a, specifically: the first rotating drive 125 drives the mounting arm 124 and the joint bearing 60 to rotate ninety degrees, after the rotation is completed, the bearing connecting part 1241 releases the joint bearing 60 and resets upward;

[0125] Step S700, the first X-axis module 131 drives the first clamping jaw 134 to move along the X-axis direction and approach the workpiece 70 until the first clamping jaw 134 moves to the outer circumferential side of the joint bearing 60 and clamps the outer circumferential side of the joint bearing 60, specifically: the first X-axis module 131 drives the second sliding table 132 and the first clamping jaw 134 to move along the X-axis direction and approach the joint bearing 60 on the workpiece 70, when the first clamping jaw 134 extends to the outer circumferential side of the joint bearing 60, the first clamping jaw 134 clamps the outer circumferential surface of the joint bearing 60;

[0126] Step S800, the second rotary driving member 133 drives the first clamping jaw 134 and the joint bearing 60 to rotate ninety degrees around the X-axis direction, after installation is completed, the first clamping jaw 134 releases the joint bearing 60 and resets, specifically: after the first clamping jaw 134 clamps the joint bearing 60, the second rotary driving member 133 drives the first clamping jaw 134 and the joint bearing 60 to rotate ninety degrees around the X-axis direction, then the outer circumferential surface of the joint bearing 60 is in contact or clearance fit with the movable arc groove 70c of the bearing hole 70a, and the joint bearing 60 is coaxial with the bearing hole 70a, at this time, the joint bearing 60 is assembled.

[0127] The second embodiment can greatly avoid surface damage and internal damage of the joint bearing 60 during pressure assembly, and ensure the performance and stability of the product.

[0128] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited to this, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An assembly device for a spherical plain bearing, characterized in that, include: Positioning component (110), workpiece (70) is disposed on positioning component (110); 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 (125). The first bracket (121) is disposed on one side of the positioning assembly (110). The first slide (122) is slidably disposed 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). One end of the mounting arm (124) is provided with a bearing connection part (1241), and the bearing connection part (1241) is correspondingly disposed with the bearing hole (70a) of the workpiece (70) in the Z-axis direction. The first rotary drive (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 (133), and a first gripper (134). The first X-axis module (131) is connected to the second slide (132) and is used to drive the second slide (132) to move closer to and further away from the spherical bearing (60) in the X-axis direction. The second rotary drive (133) is disposed on the second slide (132), and the first gripper (134) is connected to the output end of the second rotary drive (133) and is used to clamp the spherical bearing (60). The first gripper (134) and the spherical bearing (60) are driven to rotate around the X-axis direction by the second rotary drive (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 element (113), a support platform (114), and a first telescopic element (115). The positioning table (112) is slidably connected to the base (111) along the Z-axis direction; the positioning table (112) is provided with a positioning groove (112a) for positioning the workpiece (70); the elastic element (113) is disposed between the base (111) and the positioning table (112), and the extension direction of the elastic element (113) is configured to be the Z-axis direction; the support table (114) is slidably disposed on the base (111) along the Y-axis direction for supporting the positioning table (112) in the Z-axis direction, and the first extension element (115) is connected to the support table (114) for driving the support table (114) to move along the Y-axis direction to below the positioning groove (112a) or to withdraw from below the positioning groove (112a).

3. The assembly device according to claim 2, characterized in that, The positioning assembly (110) also includes a rotary telescopic drive (116). The fixed end of the rotary telescopic drive (116) is provided on the positioning table (112), and the moving end of the rotary telescopic drive (116) is provided with a clamping rod (117). The rotary telescopic drive is used to drive the clamping rod (117) to rotate around the Z-axis and move in the Z-axis direction. The clamping rod (117) is used to press the workpiece (70) onto the positioning table (112).

4. The assembly device according to claim 1, characterized in that, The bearing connection part (1241) includes 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 includes a feeding device (20), a transfer device (30), and an assembly device (10) as described in any one of claims 1 to 4. The feeding device (20) is located 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 feeding position to the transfer device (30). The transfer device (30) is located on the lower side of the mounting arm (124) of the assembly device (10) and is used to transport the spherical bearing (60) to be assembled along the X-axis direction. The two assembly devices (10) are spaced apart along the X-axis, and the transfer device (30) transfers the spherical bearing (60) along the X-axis to the underside of the mounting 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 gripper (230). The first Y-axis module (210) is located 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 gripper (230) to move in the Z-axis direction. The second gripper (230) is used to grip 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 gripper (230) places the spherical bearing (60) in the limiting groove (320a).

7. The assembly equipment according to claim 5, characterized in that, The assembly equipment also includes a shaping and flipping device (40); the shaping and flipping device (40) includes a shaping support (410), a shaping slide (420), a second telescopic component (430), a shaping plate (440), a third telescopic component (450), an identification module (460), a fourth telescopic component (470), a third rotary drive component (480), and a third gripper (490); A shaping support (410) is disposed on one side of the assembly device (10) along the X-axis direction; a shaping slide (420) is slidably connected to the shaping support (410) along the Y-axis direction; a second telescopic member (430) is disposed on the shaping support (410) and connected to the shaping slide (420), and the telescopic direction of the second telescopic member (430) is configured in the Y-axis direction; a positioning pin (421) is disposed 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 disposed on the shaping slide (420); a shaping plate (440) is located on one side of the baffle (422) along the X-axis direction; a third telescopic member (450) is disposed on the shaping slide (420), and the third telescopic member... The telescopic end of (450) is connected to the shaping plate (440) to enable the shaping plate (440) to push the workpiece (70) to move towards the baffle (422) along the X-axis direction; the identification module (460) is set at the upper end of the shaping slide (420) to identify the front and back of the workpiece (70); the fourth telescopic component (470) is set on the shaping support (410), and the telescopic direction of the fourth telescopic component (470) is configured as the Z-axis direction; the third rotary drive component (480) is connected to the telescopic end of the fourth telescopic component (470), and the third rotary drive component (480) is used to drive the third gripper (490) to rotate around the Y-axis direction; the third gripper (490) is connected to the third rotary drive component (480) to grip the workpiece (70).

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

9. A method for assembling a spherical plain bearing, characterized in that, The assembly method using the assembly apparatus (10) according to any one of claims 1 to 4 includes: Step A100: The robot (80) places the workpiece (70) on the positioning assembly (110); Step A200: The bearing connection part (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 outer arc groove (70b) of the bearing hole (70a) in the Z-axis direction; Step A300: The mounting arm (124) drives the spherical bearing (60) to move downward along the Z-axis until the spherical bearing (60) is installed into the bearing hole (70a) and the outer arc groove; Step A400: The first rotary drive (125) drives the mounting arm (124) and the spherical bearing (60) to rotate 90 degrees around the Z-axis within the bearing hole (70a); Step A500: The first X-axis module (131) drives the first gripper (134) to approach the workpiece (70) along the X-axis direction until the first gripper (134) moves to the outer periphery of the spherical bearing (60) and clamps the outer periphery of the spherical bearing (60); In step A600, the second rotary drive (133) drives the first gripper (134) and the joint bearing (60) to rotate 90 degrees around the X-axis. After installation, the first gripper (134) releases the joint bearing (60) and resets.

10. A method for assembling a spherical plain bearing, characterized in that, The assembly method using the assembly equipment of claim 5 includes: Step S100: The robot (80) places the workpiece (70) on the positioning assembly (110); Step S200: The feeding device (20) feeds the spherical bearing (60) to be assembled from the feeding position along the X-axis and Z-axis directions to the transfer device (30); Step S300: The transfer device (30) transfers the spherical bearing (60) to be assembled to the underside of the mounting arm (124) of the assembly device; In 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 part (1241) is connected to the spherical bearing (60), and the outer peripheral surface of the spherical bearing (60) is aligned with the outer arc groove (70b) of the bearing hole (70a) in the Z-axis direction. Step S500: The mounting arm (124) drives the spherical bearing (60) to move downward along the Z-axis until the spherical bearing (60) is installed into the bearing hole (70a) and the outer arc groove (70b); In step S600, the first rotary drive (125) drives the mounting arm (124) and the spherical bearing (60) to rotate 90 degrees around the Z-axis within the bearing hole (70a); Step S700: The first X-axis module (131) drives the first gripper (134) to approach the workpiece (70) along the X-axis direction until the first gripper (134) moves to the outer periphery of the spherical bearing (60) and clamps the outer periphery of the spherical bearing (60); In step S800, the second rotary drive (133) drives the first gripper (134) and the joint bearing (60) to rotate 90 degrees around the X-axis. After installation, the first gripper (134) releases the joint bearing (60) and resets.

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