Automatic pairing and press-fitting device for high-precision bearing hole series and using method of automatic pairing and press-fitting device

Abstract

The invention provides a high-precision bearing hole system automatic pairing press-fitting device and a using method, and relates to the technical field of precision mechanical assembly.The press-fitting device comprises a visual module, a conveying belt, a cryogenic device, a mechanical arm, a press-fitting device body, a positioning tool and a drying oven; the visual module takes the matching list as a data carrier to identify a shaft sleeve and a valve body which need to be paired; the manipulator is used for transferring the shaft sleeve and the valve body; the cryogenic device is used for cooling the shaft sleeve to shrink the outer diameter of the shaft sleeve; the oven is used for heating the valve body to heat and expand an inner hole of the valve body; the positioning tool is used for positioning the valve body; and the press-fitting device is used for pressing the cooled shaft sleeve into the heated inner hole of the valve body. According to the method, liquid nitrogen spraying is combined for carrying out low-temperature cold contraction on the bearing and drying oven heating is combined for carrying out high-temperature thermal expansion on a valve body hole system, the effective interference magnitude and pressing-in force can be remarkably reduced, damage of burrs to a pressing face can be reduced, the worker pairing time can be effectively shortened, the labor cost can be reduced, and the pressing efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of precision mechanical assembly, and in particular to a high-precision bearing hole system automatic pairing and press-fitting device and a use method. BACKGROUND

[0002] In a high-speed and high-precision electric servo mechanism, the interference fit quality between the bearing and the hole system (the hole system is a set of several different specifications of holes on the valve body) is an important guarantee for system reliability, and will also directly determine the service life and dynamic accuracy of the system. Therefore, the press-fitting process must minimize mechanical damage; the assembly process needs to be compatible with the thermal deformation compensation of all working conditions; only innovative temperature control press-fitting technology can meet the three extreme requirements at the same time.

[0003] With the continuous transformation of manufacturing technology, automation and intelligent production lines have gradually become the mainstream method to improve production efficiency and reduce costs. At present, the interference fit assembly of bearings and hole systems generally faces three major problems: high error rate of manual pairing, high risk of press-fitting damage, and limitations of single temperature control process. SUMMARY

[0004] To solve the above technical problems, the present application provides a high-precision bearing hole system automatic pairing and press-fitting device and a use method. The present application can solve the problems of slow production efficiency and press-fitting damage in the current interference fit assembly of shaft sleeve hole systems. The introduction of automatic production technology is beneficial to reducing the time for workers to find the corresponding shaft sleeve for the valve body and reducing the damage to the workers' vision caused by identifying and coding. It can also reduce the number of worker operation steps and save a lot of labor costs. The automatic production line can also reduce the pairing error rate and reduce production costs. At the same time, the automatic production line can monitor the whole process data, realize continuous monitoring and accurate control of temperature, press-fitting depth, pressure, position coordinates and other data, and improve product qualification rate.

[0005] The technical scheme of the present application is as follows: A high-precision bearing hole system automatic pairing and press-fitting device, comprising a vision module, a conveying belt, a cryogenic device, a robot, a press-fitting device, a positioning tool and an oven; The vision module uses a pairing single as a data carrier to identify the shaft sleeve and the valve body that need to be paired; The robot is used to transfer the shaft sleeve and the valve body; The cryogenic device is used to cool the shaft sleeve to shrink the outer diameter of the shaft sleeve; The oven is used to heat the valve body to heat and expand the inner hole of the valve body; The positioning tool is used to position the valve body; The press-fitting device is used to press the cooled shaft sleeve into the heated inner hole of the valve body.

[0006] To optimize the technical scheme, the further improvement scheme is as follows: The visual module comprises an industrial camera, a three-dimensional motion module, a pneumatic clamp and a carrier disc, the industrial camera is arranged on the three-dimensional motion module, the three-dimensional motion module can drive the industrial camera to move in three dimensions, the carrier disc is fixed below the three-dimensional motion module, the surface of the carrier disc is provided with a positioning cone, the positioning cone is used for cooperating with the inner hole of the shaft sleeve to realize the positioning of the shaft sleeve, different types of shaft sleeves are arranged on the carrier disc, the industrial camera shoots the laser marking code of the end surface of the shaft sleeve at different heights and transmits the code to the upper computer for OR processing, and the three-dimensional coordinate system coordinates of each shaft sleeve and the binding relationship of the corresponding single are uploaded to the pairing relationship matrix database of the upper computer, the pneumatic clamp is arranged near the carrier disc, the pneumatic clamp can receive the instruction of the upper computer, grab the specified shaft sleeve of the current single according to the position cloud map, and place the shaft sleeve on the conveying belt, and the upper computer can change the temperature setting value of the cryogenic device and the oven according to the shaft sleeve and the valve body type.

[0007] The cryogenic device comprises a lifting mechanism, a liquid nitrogen spraying device, an electric control system, a liquid storage tank and a cooling platform, the cooling platform is provided with a shaft sleeve positioning step, the shaft sleeve can be positioned on the shaft sleeve positioning step, the lifting mechanism is installed on one side of the cooling platform, the liquid nitrogen spraying device is installed on the lifting mechanism, the liquid nitrogen spraying device is located directly above the shaft sleeve positioning step, the liquid storage tank is connected with the liquid nitrogen spraying device, liquid nitrogen is stored in the liquid storage tank, the lifting mechanism can drive the liquid nitrogen spraying device to move up and down, when the liquid nitrogen spraying device moves to the lower end of the stroke, the liquid nitrogen spraying device can extract the liquid nitrogen in the liquid storage tank and spray it out to cool the shaft sleeve positioned on the shaft sleeve positioning step, the electric control system is signal connected with the lifting mechanism, the liquid nitrogen spraying device and the upper computer, the electric control system can control the lifting mechanism to lift and lower and the liquid nitrogen spraying device to open and close under the instruction of the upper computer.

[0008] The lifting mechanism comprises a lifting motor, a sliding groove seat and a sliding frame, the sliding groove seat is vertically arranged on the side surface of the cooling platform, the sliding frame is slidingly arranged on the sliding rail of the sliding groove seat, the lifting motor is in transmission connection with the sliding frame, the lifting motor can drive the sliding frame to move up and down on the sliding groove seat, and the liquid nitrogen spraying device is fixedly installed on the sliding frame.

[0009] The number of the lifting mechanism and the liquid nitrogen spraying device is several, the number of the shaft sleeve positioning steps arranged on the cooling platform is the same as that of the liquid nitrogen spraying devices, and each liquid nitrogen spraying device is located directly above the corresponding shaft sleeve positioning step.

[0010] The positioning tool comprises a base, a stand and a horizontal push clamp arranged on the base, the horizontal push clamp comprises a horizontal push motor and a horizontal push rod, the horizontal push motor is fixed on the base, one end of the horizontal push rod is connected with the horizontal push motor, and the other end of the horizontal push rod is in abutting contact with the valve body through a limiting pin, the horizontal push clamp horizontally pushes the valve body to make the valve body abut against the stand to be positioned, the positioning tool further comprises a guide sleeve and a plurality of stepped shafts, the guide sleeve can be fixed on the valve body, the guide sleeve is used for guiding the shaft sleeve to enter the inner hole of the valve body, and the size of the stepped shaft is adapted to the size of the shaft sleeve.

[0011] The valve body comprises at least two valve body inner holes, the guide sleeve is provided with the same number of upper and lower through holes as the valve body inner holes, the guide holes correspond to the valve body inner holes when the guide sleeve is fixed on the valve body, and the stepped shaft has a small-diameter shaft segment and a large-diameter shaft segment connected in sequence, the small-diameter shaft segment can be inserted into the inner hole of the shaft sleeve, and the diameter of the large-diameter shaft segment is larger than the diameter of the inner hole of the shaft sleeve.

[0012] The guide hole inlet is provided with a flared portion, the middle section is a mirror-polished cylindrical hole, and the end is fixed with an elastic polyurethane limiting ring for preventing the shaft sleeve end face from being damaged by contacting the valve body end face.

[0013] The pressing device is a press machine, the press machine is provided with a pressure sensor and a displacement sensor, the pressure sensor is used for detecting the pressure of the press machine on the shaft sleeve, the displacement sensor is used for detecting the downward displacement of the shaft sleeve, the press machine, the pressure sensor and the displacement sensor are all connected with a host computer signal, and the host computer receives the signals of the pressure sensor and the displacement sensor and controls the operation of the press machine.

[0014] A use method of the high-precision bearing hole system automatic pairing and pressing device, the use method of the high-precision bearing hole system automatic pairing and pressing device comprises the following steps: Step one, place the shaft sleeve on the object carrier, the side with the laser-marked code faces upward, and place the valve body in the oven for heating; Step two, the visual module starts to scan the end face of the shaft sleeve, outputs the end face code and the corresponding position to the host computer, and forms a position cloud map in the host computer; Step three, after the valve body is heated, the pneumatic clamp grabs a plurality of corresponding shaft sleeves according to the pairing list and places them on the conveying belt; Step four, the conveying belt is kept in an open state, and stops moving when the shaft sleeve is conveyed to the specified position; Step five, the robot grabs each shaft sleeve and places it on the corresponding shaft sleeve positioning step, the lifting mechanism drives the liquid nitrogen spraying device to move downward, and the liquid nitrogen spraying device cools the shaft sleeve; Step six, take the heated valve body out of the oven and place it on the positioning tool, control the flat push clamp to fix the valve body, place the guide sleeve on the valve body, align the guide holes of the guide sleeve with the valve body inner holes of the valve body, and grab the positioning tool with the robot and place it under the pressing device, Step seven, the liquid nitrogen spraying device corresponding to the first installation sequence shaft sleeve rises, the robot grabs the first installation sequence shaft sleeve and places it in the corresponding guide hole of the guide sleeve; Step eight, the robot grabs the guide stepped shaft corresponding to the first installation sequence shaft sleeve and places it on the first installation sequence shaft sleeve, and the pressing device is pressed down to press the first installation sequence shaft sleeve into the corresponding valve body inner hole of the valve body; Step nine, the manipulator takes off the guide stepped shaft corresponding to the shaft sleeve of the first installation sequence, Step ten, in the manner of steps seven to nine, the remaining shaft sleeves are pressed into the valve body inner hole of the valve body, and the assembly of the shaft sleeve and the valve body is completed. Step eleven, the manipulator takes out the positioning tool from below the pressing device and places it in the finished product tray position, and the workers transfer the assembled shaft sleeve and valve body.

[0015] Compared with the prior art, the present application has the following significant advantages: In the high-precision bearing hole automatic pairing and pressing device, the visual module is used to identify the shaft sleeve and the valve body that need to be paired, which is different from the traditional manual visual check of the code, and the recognition accuracy of the OCR scheme can reach 99.6%; and it is compatible with oil stains, metal reflection and other industrial scenes, realizes zero mismatch, and the upper computer can determine the liquid nitrogen flow setting value and the oven temperature setting value according to the code. The scheme can reduce the manual pairing post, save labor cost and improve production efficiency, and reduce the bearing loss caused by mismatch.

[0016] The present application adopts the technology of heating the valve body by the oven and cooling the shaft sleeve by liquid nitrogen, which is different from the traditional single object temperature control process, and simultaneously acts on the valve body and the shaft sleeve, improves the reduction of interference amount, and reduces the mechanical scraping of burrs in the processing process, prolongs the service life of the bearing, and breaks the traditional manual experience temperature control mode, adopts the temperature control of the whole process, selects the optimal process parameters, and achieves the precise control of the assembly process, realizes the technical innovation of reducing the pressing force, improving the assembly precision and inhibiting the micro damage.

[0017] The application realizes accurate process control by collecting the data of pressure and displacement in the pressing process through the sensor, linkage control of pressure and displacement in the pressing process, ensures that the shaft sleeve reaches the design position and the correct pressing force is applied, after the mechanical hand completes the pairing of the shaft sleeve and the valve body and retracts the clamping jaw, the automatic press starts to prepare for pressing, during the pressing process, the pressure sensor and the displacement sensor collect data in real time, the data acquisition module transmits the real-time data to the upper computer, compares the collected data with the preset range, ensures that the pressure and displacement parameters are within the normal range, if the pressure and displacement reach the set value, the system judges that the pressing is completed, enters the data recording stage, stores the pressure, displacement and pressing time of this pressing process in the database, provides data support for subsequent analysis, if the detected data exceeds the preset range (such as excessive pressure, displacement not in place, etc.), the system judges that it is an abnormal state, the system automatically sends an alarm signal, displays the abnormal information, and suspends the pressing operation to prevent abnormal assembly from causing quality problems, the operator checks the abnormal situation, if the equipment failure or workpiece position deviation is found, correction measures can be taken, after the fault is eliminated, the system is reset and the pressing operation is restarted, by binding the real-time monitoring data with the OCR code, the double-state temperature control parameter and the pressing curve, the interference assembly quality block chain is constructed, and the whole pressing process is monitored. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of an embodiment of the application; Figure 2 is a structural schematic diagram of a positioning tool; Figure 3 is a process flowchart of the embodiment; Figure 4 is a top view of the positioning tool; Figure 5 is an A-A sectional view of Figure 4 .

[0019] The reference signs in it are: visual module 1, industrial camera 101, three-dimensional motion module 102, pneumatic clamp 103, large shaft sleeve 104, small shaft sleeve 105, carrier disc 106, conveying belt 2, cryogenic device 3, lifting mechanism 301, sliding groove seat 301a, sliding carriage 301b, liquid nitrogen spraying device 302, electric control system 303, liquid storage tank 304, cooling platform 305, shaft sleeve positioning step 306, mechanical hand 4, mechanical support 401, self-adaptive claw clamp 402, pressing device 5, positioning tool 6, flat push clamp 601, guide sleeve 602, valve body 603, vertical column 604, limit pin 605, base 606, small stepped shaft 607, large stepped shaft 608, oven 7. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is described and explained below in connection with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0021] It is obvious that the drawings in the following description are only some examples or embodiments of the present application, and for those of ordinary skill in the art, the present application can also be applied to other similar scenarios without creative labor on the basis of these drawings. In addition, it can be understood that although the efforts made in this development process can be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacture or production changes based on the technical content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0022] In the present application, "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0023] In the present embodiment, the high-precision bearing hole automatic pairing press-fitting device is used for interference assembly between the high-precision shaft sleeve and the valve body 603. The worker must manually input the pairing single to the system in advance, and set the corresponding OCR, cryogenic, heating and press-fitting parameters according to the type of the shaft sleeve and the valve body 603.

[0024] The main structure of the present application includes a visual module 1, a transmission belt 2, a cryogenic device 3, a mechanical hand 4, a press-fitting device 5, a positioning tool 6 and an oven 7. The visual module 1 comprises an industrial camera 101, a three-dimensional motion module 102, a pneumatic clamp 103 and a carrier disc 106. Workers need to place the large shaft sleeve 104 and the small shaft sleeve 105 with the laser-marked end face upwards on the carrier disc 106 in advance, place the large shaft sleeve 104 and the small shaft sleeve 105 in the corresponding positions of the large and small positioning cones respectively, and place them in the fixed position below the three-dimensional motion module 102. The three-dimensional motion module 102 will drive the industrial camera 101 to scan and take pictures in an S shape at the corresponding height, obtain the code at the corresponding position, and transmit it to the upper computer to generate a position cloud chart. When the valve body 603 is heated to a specified temperature, the upper computer will drive the pneumatic clamp 103 to the corresponding position to grab the large shaft sleeve 104 and the small shaft sleeve 105 and place them on the conveying belt 2. In the embodiment, the size of the carrier disc 106 is 970*610, the grid size is 110*110, the industrial camera 101 adopts a 6 million pixel network interface area camera, which is color, frame rate ≥60fps, resolution 1624*1240, and is installed 150mm above the recognition station, with a field of view covering 110*110mm². A light source is arranged on the industrial camera 101, which adopts a coaxial diffuse reflection ring LED light source (wavelength 625nm±10nm), with an angle of 90°, an adjustable illumination range of 1000-5000lux, and elimination of metal reflection interference. The pneumatic clamp 103 is integrated with double-cylinder drive (stroke 0-110mm adjustable), and the end is a V-shaped self-centering claw finger (Shao hardness A90), with a clamping force of 20-200N programmable control.

[0025] The deep cooling device 3 comprises a lifting mechanism 301, a liquid nitrogen spraying device 302, an electric control system 303, a liquid storage tank 304 and a cooling platform 305. The cooling platform 305 is provided with two shaft sleeve positioning steps 306. The shaft sleeve can be positioned on the shaft sleeve positioning steps 306. The shaft sleeve positioning steps 306 are large and small, and are suitable for shaft sleeves of different sizes. The liquid nitrogen spraying device 302 comprises two parts, which are respectively used for cooling the large shaft sleeve 104 and the small shaft sleeve 105. When the manipulator 4 grabs the small shaft sleeve 105, the large shaft sleeve 104 will be kept in the deep cooling device 3. After the small shaft sleeve 105 is completed, the liquid nitrogen spraying device 302 corresponding to the large shaft sleeve 104 is lifted, and the press-fitting of the large shaft sleeve 104 is performed. In the embodiment, the electric control system 303 adopts a touch screen plus PLC programmable control mode, is provided with high and low liquid level alarms, and can realize an automatic liquid supplement function. The liquid storage tank 304 adopts a 304 stainless steel sealing structure (Ø550*500mm), has a liquid storage capacity of 200L, a pressure of 0.99MPa, a liquid nitrogen flow of 5L / min±0.5L (PID control of an electromagnetic valve), and the lifting mechanism 301 comprises a lifting motor, a sliding groove seat 301a and a sliding frame 301b. The sliding groove seat 301a is vertically arranged on the side of the cooling platform 305. The sliding frame 301b is slidingly arranged on the sliding rail of the sliding groove seat 301a. The lifting motor is in transmission connection with the sliding frame 301b. The liquid nitrogen spraying device 302 is fixedly installed on the sliding frame 301b.

[0026] The positioning tool 6 includes a horizontal push clamp 601, a guide sleeve 602, a column 604, a limit pin 605 and a base 606. The horizontal push clamp 601 includes a horizontal push motor and a horizontal push rod. The horizontal push motor is fixed on the base 606 and connected with one end of the horizontal push rod. The other end of the horizontal push rod is in abutting cooperation with the valve body 603 through the limit pin 605. The horizontal push clamp 601 horizontally pushes the valve body 603 to position the valve body 603 on the column 604. The guide sleeve 602 can be fixed on the valve body 603 and is used for guiding the shaft sleeve into the inner hole of the valve body. The stepped shaft includes a small stepped shaft 607 and a large stepped shaft 608. Each stepped shaft has a small-diameter shaft segment and a large-diameter shaft segment connected with each other. The small-diameter shaft segment can penetrate into the inner hole of the corresponding shaft sleeve. The diameter of the large-diameter shaft segment is larger than the diameter of the inner hole of the corresponding shaft sleeve. The base 606 is made of blackened 45 steel, the column 604 is made of aluminum alloy 7075, the limit pin 605 is made of aluminum bronze, and the guide sleeve 602 is made of bakelite. A two-stage taper damping structure is adopted in the guide sleeve 602 and is used for cooperating with the chamfer on the shaft sleeve. When pressing, the small shaft sleeve 105 is pressed first and then the large shaft sleeve 104 is pressed. The worker places the heated valve body 603 on the positioning tool 6 in advance, fixes the valve body 603 through the horizontal push clamp 601 and the column 604, the mechanical hand 4 grabs the positioning tool 6 and places the positioning tool 6 under the pressing head of the pressing device 5. At this time, the small valve body inner hole of the valve body 603 is coaxial with the pressing head of the pressing device 5. Then the mechanical hand 4 grabs the small shaft sleeve 105 and places it on the small guide hole of the guide sleeve 602. Then the mechanical hand 4 grabs the small stepped shaft 607 and places it on the small shaft sleeve 105. The pressing device 5 is pressed down. After the pressing is completed, the mechanical hand 4 takes away the small stepped shaft 607, moves the positioning tool 6, and makes the large valve body inner hole of the valve body 603 coaxial with the pressing head of the pressing device 5. Then the mechanical hand 4 grabs the large shaft sleeve 104 and places it on the large guide hole of the guide sleeve 602. Then the mechanical hand 4 grabs the large stepped shaft 608 and places it on the large shaft sleeve 104. The pressing device 5 is pressed down. The mechanical hand 4 takes away the large stepped shaft 608 and places the positioning tool 6 on the desktop.

[0027] In the embodiment, the mechanical hand 4 is a JAKA ZU 12 robot having a mechanical support 401 and a self-adaptive claw clamp 402 connected with each other. The load effective load is 12 kg, the working radius is 1327 mm, the number of degrees of freedom is 6, and the repeat positioning accuracy is 0.01 mm. The end effector adopts a Robotiq-2F-110 stroke of 110 mm, a load of 5 kg, a clamping force of 20-185 N, and a position repeat positioning accuracy of 0.4 mm.

[0028] It is pointed out that, in the implementation of the present application, only the corresponding process parameters need to be set according to the type of the valve body 603, and in addition, in the implementation of the present application, since the number of valve bodies 603 and shaft sleeves of different batches is different, the specification of the carrier disc 106 is determined according to the number of valve bodies 603, and of course, a redundant design can also be adopted, so that one equipment can be applicable to the press-fitting of valve bodies 603 of different types and numbers.

[0029] The present application also provides an operating method of the automatic pairing and press-fitting device for the high-precision bearing hole system of the electric servo mechanism, comprising the following steps: Step one, manual loading, the end faces of the large shaft sleeve 104 and the small shaft sleeve 105 with laser-marked codes are placed on the carrier disc 106 with the end faces upward, the carrier disc 106 is placed on the desktop at a fixed position, the valve body 603 is heated in the corresponding position in the oven 7, and the corresponding pairing single is delivered to the upper computer; Step two, the worker gives an instruction, the three-dimensional motion module 102 starts to scan the end faces of the shaft sleeves at different positions in an S-shaped path, and outputs the end face codes and the corresponding position coordinates to the upper computer, the position cloud diagram is obtained in the upper computer, and the corresponding position coordinates are automatically selected according to the pairing single sequence; Step three, after the valve body 603 is heated, the worker opens the oven 7 and gives an instruction, the pneumatic clamp 103 moves to the corresponding position according to the pairing single to sequentially grab the corresponding large shaft sleeve 104 and small shaft sleeve 105, and places them on the conveying belt 2 respectively; Step four, the conveying belt 2 keeps an open state, and when the shaft sleeves are conveyed to the position of the photoelectric switch, the conveying belt 2 stops moving after receiving the signal; Step five, the mechanical hand 4 respectively grabs the large shaft sleeve 104 and the small shaft sleeve 105 according to the signal given by the photoelectric switch, and places them on the corresponding positions of the cooling platform 305, the electric control system 303 controls the lifting mechanism 301 to descend according to the signal, and starts to cool the large shaft sleeve 104 and the small shaft sleeve 105; Step six, the worker takes out the heated valve body 603, and fixes it on the positioning tool 6, and fixes the guide sleeve 602 on the valve body 603, from Figure 2 and 5 It can be seen that the guide sleeve 602 can be directly clamped on the valve body 603 without other locking parts, the mechanical hand 4 grabs the positioning tool 6 and places it under the press-fitting device 5, at this time, the small valve body inner hole of the valve body 603 is coaxial with the press head of the press-fitting device 5; Step seven, the corresponding lifting mechanism 301 of the small shaft sleeve 105 rises, the mechanical hand 4 grabs the small shaft sleeve 105 and places it on the small guide hole of the guide sleeve 602 of the positioning tool 6; Step eight, the mechanical hand 4 grabs the small stepped shaft 607 and places it on the small shaft sleeve 105, and the press-fitting device 5 is pressed down; Step nine, the robot 4 takes down the small stepped shaft 607, and then the robot 4 grabs the positioning tool 6 to make the large valve body inner hole of the valve body 603 coaxial with the press head of the press device 5; Step ten, the corresponding lifting mechanism 301 of the large shaft sleeve 104 rises, the robot 4 grabs the large shaft sleeve 104 and places it on the large guide hole of the guide sleeve 602, the robot 4 grabs the large stepped shaft 608 and places it on the large shaft sleeve 104, and the press device 5 is pressed down; Step eleven, the robot 4 takes down the guide stepped shaft, and then grabs the positioning tool 6 and places the finished product on the finished product disc position, and the workers transfer the assembled shaft sleeve and valve body.

[0030] By now, the automatic pairing and press fitting of the high-precision bearing hole system of the electric servo mechanism is completed.

[0031] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments only, and any technical solution falling within the idea of the present application belongs to the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application should be considered as the protection scope of the present application.

Claims

1. A high-precision bearing hole system automatic pairing and press-fitting device, characterized in that, It comprises a vision module (1), a conveying belt (2), a deep cooling device (3), a mechanical hand (4), a pressing device (5), a positioning tool (6) and an oven (7); The vision module (1) takes a matching single as a data carrier to identify the shaft sleeve and the valve body (603) to be matched; The mechanical hand (4) is used for transferring the shaft sleeve and the valve body (603); The deep cooling device (3) is used for cooling the shaft sleeve to make the outer diameter of the shaft sleeve shrink; The oven (7) is used for heating the valve body (603) to make the inner hole of the valve body expand; The positioning tool (6) is used for positioning the valve body (603); The pressing device (5) is used for pressing the cooled shaft sleeve into the inner hole of the heated valve body.

2. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 1, characterized in that, The vision module (1) comprises an industrial camera (101), a three-dimensional motion module (102), a pneumatic clamp (103) and a carrier disc (106), the industrial camera (101) is arranged on the three-dimensional motion module (102), the three-dimensional motion module (102) can drive the industrial camera (101) to move in three dimensions, the carrier disc (106) is fixed below the three-dimensional motion module (102), the surface of the carrier disc (106) is provided with a positioning cone, the positioning cone is used for cooperating with the inner hole of the shaft sleeve to realize the positioning of the shaft sleeve, different types of shaft sleeves are placed on the carrier disc (106), the industrial camera (101) shoots the laser marking code of the end surface of the shaft sleeve at different heights and sends the code to an upper computer for OCR processing, and the three-dimensional coordinate system coordinates of each shaft sleeve and the binding relationship of the matching single are uploaded to the matching relationship matrix database of the upper computer, the pneumatic clamp (103) is arranged near the carrier disc (106), the pneumatic clamp (103) can receive the instruction of the upper computer, grasp the specified shaft sleeve of the current matching single according to the position cloud map and place the shaft sleeve on the conveying belt (2), and the upper computer can change the temperature setting value of the deep cooling device (3) and the oven (7) according to the types of the shaft sleeve and the valve body.

3. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 2, characterized in that, The deep cooling device (3) comprises a lifting mechanism (301), a liquid nitrogen spraying device (302), an electric control system (303), a liquid storage tank (304) and a cooling platform (305); the cooling platform (305) is provided with a shaft sleeve positioning step (306), the shaft sleeve can be positioned on the shaft sleeve positioning step (306), the lifting mechanism (301) is installed on one side of the cooling platform (305), the liquid nitrogen spraying device (302) is installed on the lifting mechanism (301), the liquid nitrogen spraying device (302) is located directly above the shaft sleeve positioning step (306), the liquid storage tank (304) is connected with the liquid nitrogen spraying device (302), liquid nitrogen is stored in the liquid storage tank (304), the lifting mechanism (301) can drive the liquid nitrogen spraying device (302) to move up and down, when the liquid nitrogen spraying device (302) moves to the lower end of the stroke, the liquid nitrogen spraying device (302) can extract the liquid nitrogen in the liquid storage tank (304) and spray it out, so as to cool the shaft sleeve positioned on the shaft sleeve positioning step (306), the electric control system (303) is connected with the lifting mechanism (301), the liquid nitrogen spraying device (302) and the upper computer signal respectively, the electric control system (303) can control the lifting mechanism (301) to lift and the liquid nitrogen spraying device (302) to open and close under the instruction of the upper computer.

4. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 3, characterized in that, The lifting mechanism (301) comprises a lifting motor, a sliding groove seat (301a) and a sliding frame (301b), the sliding groove seat (301a) is vertically arranged on the side of the cooling platform (305), the sliding frame (301b) is slidingly arranged on the sliding rail of the sliding groove seat (301a), the lifting motor is in transmission connection with the sliding frame (301b), and the lifting motor can drive the sliding frame (301b) to move up and down on the sliding groove seat (301a), and the liquid nitrogen spraying device (302) is fixedly installed on the sliding frame (301b).

5. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 3, characterized in that, The number of the lifting mechanism (301) and the liquid nitrogen spraying device (302) is several, the number of the shaft sleeve positioning step (306) arranged on the cooling platform (305) is the same as that of the liquid nitrogen spraying device (302), and each liquid nitrogen spraying device (302) is located directly above the corresponding shaft sleeve positioning step (306).

6. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 1, characterized in that, The positioning tool (6) comprises a base (606), the base (606) is provided with a stand column (604) and a horizontal pushing clamp (601), the horizontal pushing clamp (601) comprises a horizontal pushing motor and a horizontal pushing rod, the horizontal pushing motor is fixed on the base (606), one end of the horizontal pushing motor is connected with the horizontal pushing rod, the other end of the horizontal pushing rod is in abutting and matching connection with the valve body (603) through a limiting pin (605), the horizontal pushing clamp (601) horizontally pushes the valve body (603) so that the valve body (603) is positioned on the stand column (604), the positioning tool (6) further comprises a guide sleeve (602) and a plurality of stepped shafts, the guide sleeve (602) can be fixed on the valve body (603), and the guide sleeve (602) is used for guiding the shaft sleeve to enter the inner hole of the valve body, and the stepped shafts are adapted to the size of the shaft sleeve.

7. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 6, characterized in that, The valve body (603) includes at least two valve body inner holes, and the guide sleeve (602) is provided with the same number of upper and lower through guide holes as the valve body inner holes, the guide holes correspond to the valve body inner holes one by one when the guide sleeve (602) is fixed on the valve body (603), and the stepped shaft has a small-diameter shaft segment and a large-diameter shaft segment connected in sequence, the small-diameter shaft segment can penetrate into the shaft sleeve inner hole, and the diameter of the large-diameter shaft segment is larger than that of the shaft sleeve inner hole.

8. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 7, characterized in that, The guide hole entrance is provided with a flared portion, the middle section is a mirror-polished cylindrical hole, and the end is fixed with an elastic polyurethane limiting ring for preventing the shaft sleeve end face from being damaged by contacting the valve body (603) end face.

9. The automatic pairing and press-fitting device for high-precision bearing hole systems according to claim 7, characterized in that, The pressing device (5) is a press, the press is provided with a pressure sensor and a displacement sensor, the pressure sensor is used for detecting the pressure of the press on the shaft sleeve, the displacement sensor is used for detecting the downward displacement of the shaft sleeve, the press, the pressure sensor and the displacement sensor are all connected with a host computer signal, and the host computer receives the signals of the pressure sensor and the displacement sensor and controls the operation of the press.

10. A method for using a high-precision bearing hole system automatic pairing and press-fitting device, characterized in that, The high-precision bearing hole automatic pairing and pressing device has the following steps: Step one, place the shaft sleeve on the object table (106), the side with the laser-marked code faces upward, the object table (106) is placed on the desktop, and the valve body (603) is placed in the oven (7) for heating; Step two, the visual module (1) starts to scan the shaft sleeve end face, outputs the end face code and the corresponding position to the host computer, and forms a position cloud map in the host computer; Step three, after the valve body (603) is heated, the pneumatic clamp (103) grabs a plurality of corresponding shaft sleeves according to the pairing list and places them on the conveying belt (2); Step four, the conveying belt (2) is kept in an open state, and when the shaft sleeve is conveyed to the specified position, the conveying belt (2) stops moving; Step five, the manipulator (4) grabs each shaft sleeve and places it on the corresponding shaft sleeve positioning step (306), the lifting mechanism (301) drives the liquid nitrogen spraying device (302) to move downward, and the liquid nitrogen spraying device (302) cools the shaft sleeve; Step six, the heated valve body (603) is taken out from the oven (7) and placed on the positioning tool (6), the flat push clamp (601) is controlled to fix the valve body (603), the guide sleeve (602) is placed on the valve body (603), the guide holes of the guide sleeve (602) are aligned with the valve body inner holes of the valve body (603) upward and downward, the manipulator (4) grabs the positioning tool (6) and places it under the pressing device (5), Step seven, the liquid nitrogen spraying device (302) corresponding to the first installation sequence shaft sleeve rises, and the manipulator (4) grabs the first installation sequence shaft sleeve and places it in the corresponding guide hole of the guide sleeve (602); Step eight, the manipulator (4) grabs the guide stepped shaft corresponding to the first installation sequence shaft sleeve and places it on the first installation sequence shaft sleeve, and the pressing device (5) is pressed down to press the first installation sequence shaft sleeve into the corresponding valve body inner hole of the valve body (603); Step nine, the manipulator (4) takes down the guide stepped shaft corresponding to the first installation sequence shaft sleeve, Step ten, according to the mode of step seven to step nine, the remaining bushing is pressed into the valve body inner hole of the valve body (603), and the assembly of the bushing and the valve body (603) is completed; Step eleven, the manipulator (4) takes out the positioning tooling (6) from below the pressing device (5) and places it in the finished product disc position, and the workers transport the assembled bushing and valve body (603).

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