Oil seal press fit structure for cross roller bearing

Abstract

The application discloses an oil seal press-fitting structure for a cross roller bearing and belongs to the technical field of machine tools. The oil seal press-fitting structure mainly comprises a press-fitting mechanism, the press-fitting mechanism comprises a bearing positioning seat, a lifting driver and a bearing receiving seat located above the bearing positioning seat, the bottom of the bearing receiving seat is provided with a plurality of grabbing structures, the grabbing structure comprises a sliding seat, a floating disc, a plug finger, an outer tube and a radial actuator, the sliding seat is driven by the radial actuator to make linear reciprocating motion on the bearing receiving seat along the radial direction of the bearing receiving seat, the floating disc is installed on the sliding seat, the plug finger is arranged on the floating disc with two ends arranged in an up-down mode, the outer tube is sleeved outside the plug finger, the inner cavity of the outer tube is provided with a tube cavity, the tube cavity can provide negative pressure for the end of the outer tube, the end of the plug finger extends out of the end of the outer tube, and the bearing receiving seat is circumferentially arrayed with the plurality of grabbing structures. The oil seal press-fitting structure for the cross roller bearing can realize automatic press-fitting of the oil seal.

Description

Technical Field

[0001] This invention relates to the field of machine tool technology, and more specifically to an oil seal press-fit structure for crossed roller bearings. Background Technology

[0002] Crossed roller bearings are a special type of bearing with a split inner ring and a rotating outer ring. They feature two sets of raceways and rollers arranged at right angles, with adjacent rollers facing opposite directions and equipped with spacers. They can withstand radial, axial, and torque loads. Their split structure allows for adjustable clearance, providing high rotational accuracy and rigidity, making them suitable for applications such as industrial robot joints, high-speed machine tools, and precision instruments.

[0003] refer to Figure 1 As shown, a conventional thin crossed roller bearing uses J-type oil seals 300 for oil sealing and dust protection on both sides. The outer edge of the oil seal 300 is a straight-section insertion portion 301, and the inner edge of the insertion portion 301 has a lip 302 inclined relative to the axis. When assembling the oil seal 300 with the bearing, the insertion portion 301 needs to be radially contracted first, and then released and pressed into the groove 102 on the inner wall of the outer ring 100. In this way, the lip 302 will engage with the outer ring 200. The end face slides against the bearing; however, in the existing technology, it can only be manually pressed and installed, and it is impossible to automate the pressing of the oil seal 300 and the bearing. This is because when the clamping structure grabs and squeezes the insertion part 301 inward, the insertion part 301 is prone to twisting and deformation, which causes the insertion part 301 to be uneven on the radial plane. It is impossible to align the insertion part 301 with the slot 102 and press it into place. Furthermore, the clamping of the outer edge of the insertion part 301 will hinder the insertion of the insertion part 301 into the slot 102.

[0004] Therefore, it is necessary to provide a new oil seal press-fit structure for crossed roller bearings. Summary of the Invention

[0005] Based on the aforementioned problems in the prior art, the purpose of this invention is to provide an oil seal press-fitting structure for crossed roller bearings, which can realize automated press-fitting of oil seals.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An oil seal press-fitting structure for crossed roller bearings is provided, comprising a press-fitting mechanism. The press-fitting mechanism includes a bearing positioning seat, a lifting actuator, and a receiving seat located above the bearing positioning seat. The lifting actuator drives the receiving seat to move up and down relative to the bearing positioning seat. The bottom of the receiving seat is provided with multiple gripping structures. Each gripping structure includes a slide, a float, insert fingers, an outer tube, and a radial actuator. The slide, driven by the radial actuator, performs a linear reciprocating motion along the radial direction of the receiving seat. The float is mounted on the slide. The insert fingers are arranged vertically on the float with their ends facing upwards. The outer tube is sleeved over the insert fingers. The inner cavity of the outer tube has a tubular cavity through which negative pressure can be provided to the end of the outer tube. The end of the insert fingers extends out of the end of the outer tube. Multiple gripping structures are arranged in a circumferential array on the receiving seat.

[0007] Furthermore, the lifting driver drives the receiving seat to descend, inserting the pins of the multiple gripping structures into the insertion part of the oil seal. At the same time, the end of the outer tube abuts against the insertion part. The cavity provides negative pressure, causing the end of the outer tube to adhere to the upper surface of the insertion part. Subsequently, the slides of the multiple gripping structures move towards the center of the multiple gripping structures, causing the oil seal to contract along the center. The lifting driver drives the receiving seat and the gripping structures to descend, bringing the oil seal closer to the crossed roller bearing on the bearing positioning seat, until the insertion part of the contracted oil seal is aligned with the groove of the crossed roller bearing. By moving the slides of the multiple gripping structures away from the center of the multiple gripping structures, the insertion part of the oil seal can be squeezed into the groove.

[0008] Furthermore, the oil seal press-fitting structure for the crossed roller bearing also includes a feeding mechanism disposed beside the press-fitting mechanism. The feeding mechanism includes a feed driver for outputting linear motion power and an oil seal positioning seat connected to the output end of the feed driver. The oil seal positioning seat includes an annular positioning step one and an annular positioning step two located on the inner edge of the positioning step one. The upper end surface of the positioning step one is higher than the upper end surface of the positioning step two. The positioning step one is used to support the bottom of the insertion part.

[0009] Furthermore, the axis of the insert finger is inclined rather than perpendicular to the sliding path of the slide on the receiving seat, and the insert finger gradually approaches the center of the multiple gripping structures from top to bottom.

[0010] Furthermore, a shaking actuator is installed between the floating table and the slide block, which drives the floating table to move alternately up and down vertically along the slide block.

[0011] Furthermore, the slide block is provided with a shaking gap, and the floating disk is housed in the shaking gap. There are gaps at both the upper and lower parts of the floating disk. The shaking actuator is installed at the lower part of the floating disk. When the shaking actuator generates an outward thrust, it drives the floating disk to move upward. When the shaking actuator generates an inward contraction force, it drives the floating disk to move downward.

[0012] Furthermore, the slide block is also provided with a guide slot, through which the outer tube slides.

[0013] Furthermore, the outer tube has positioning ribs extending axially along the side wall of the tube cavity, and multiple positioning ribs are spaced apart along the circumference of the outer tube in the tube cavity, with the insertion finger passing through the center of the multiple positioning ribs.

[0014] Furthermore, a boss is fitted onto the end of the outer tube that is close to the floating plate. The boss is fixed to the floating plate. The boss has a cavity inside that connects to the pipe. Multiple windows are provided on the peripheral wall of the boss. The windows connect to the cavity inside the boss. The floating plate has a surrounding cavity around the outer periphery of the boss. One side of the floating plate is provided with an interface. A flow channel connects the interface and the surrounding cavity.

[0015] Furthermore, the oil seal press-fitting structure for the crossed roller bearing also includes a transfer mechanism disposed beside the press-fitting mechanism, the transfer mechanism including a three-axis motion platform and bearing grippers mounted on the three-axis motion platform.

[0016] The beneficial effects of this invention are as follows: The oil seal press-fitting structure for crossed roller bearings provided by this invention includes a press-fitting mechanism. The press-fitting mechanism includes a bearing positioning seat, a lifting drive, and a receiving seat located above the bearing positioning seat. The lifting drive is used to drive the receiving seat to move up and down relative to the bearing positioning seat. The bottom of the receiving seat is provided with multiple gripping structures, each gripping structure including a slide, a float, insert fingers, an outer tube, and a radial actuator. The slide, driven by the radial actuator, performs linear reciprocating motion on the receiving seat along the radial direction. The float is mounted on the slide, and the insert fingers are arranged vertically on the float with their ends facing each other. The outer tube is sleeved on the outside of the insert fingers, and the inner cavity of the outer tube has a tubular cavity through which a negative pressure can be supplied to the end of the outer tube. The insertion fingers extend beyond the end of the outer tube. Multiple gripping structures are arranged in a circumferential array on the receiving seat. A lifting actuator drives the receiving seat downwards, inserting the insertion fingers of the gripping structures into the insertion portion of the oil seal. Simultaneously, the end of the outer tube abuts against the insertion portion. Negative pressure provided by the tube cavity causes the end of the outer tube to adhere to the upper surface of the insertion portion. Subsequently, the sliding block of the gripping structures moves towards the center of the gripping structures. Utilizing the radial pulling force of the insertion fingers on the oil seal and the adsorption and fixing effect of the outer tube on the oil seal, the oil seal can contract along its center. At this point, the radial resistance generated by the insertion fingers penetrating the oil seal limits the radial retraction of the insertion portion, and the adsorption of the outer tube on the upper surface of the insertion portion locks the insertion fingers axially. To prevent the insert fingers from slipping and loosening axially relative to the oil seal, the insertion depth of the insert fingers is limited by the abutment between the outer tube and the upper end face of the insert portion, maintaining consistency in the insertion depth of multiple insert fingers. Subsequently, the lifting drive drives the receiving seat and the gripping structure to descend, bringing the oil seal closer to the crossed roller bearing on the bearing positioning seat, until the retracted insert portion of the oil seal is aligned with the groove of the crossed roller bearing. Then, by moving the slide of the multiple gripping structures away from the center of the multiple gripping structures, the insert portion of the oil seal is squeezed into the groove. During the process of the gripping structure moving the insert portion into the groove, the insert fingers and the outer tube limit the insert portion axially in the oil seal, and the abutment between the outer tube and the outer end face of the insert portion... It can effectively limit the axial torsional deformation of the plug part, and at the same time, the plug part is attracted to the upper end face of the plug part by the outer tube, making it difficult for the plug part to undergo torsional deformation in the axial direction of the oil seal. This ensures that the plug part maintains its alignment with the slot when moving radially. In addition, the outer tube attracted to the plug part can effectively limit the sliding of the insert finger relative to the oil seal along the insert finger axis during the oil seal rebound process, keeping the plug part and the slot in a coplanar alignment state. This allows the oil seal to be smoothly fitted onto the crossed roller bearing. Thus, through the above design, the oil seal press-fitting structure for crossed roller bearings provided by the invention can replace manual labor to automatically grasp, retract, release, align and press into the slot of the oil seal, realizing automated press-fitting of the oil seal. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a schematic diagram showing the positional relationship between the crossed roller bearing and the oil seal.

[0019] Figure 2 This is a three-dimensional structural diagram of an oil seal press-fit structure for crossed roller bearings provided in an embodiment of the present invention.

[0020] Figure 3 This is a three-dimensional structural diagram of the pressing mechanism provided in an embodiment of the present invention.

[0021] Figure 4 This is a three-dimensional structural diagram of the transfer mechanism provided in an embodiment of the present invention.

[0022] Figure 5 This is a three-dimensional structural diagram of the feeding mechanism provided in an embodiment of the present invention.

[0023] Figure 6 This is a front view of the feeding mechanism provided in an embodiment of the present invention.

[0024] Figure 7 For along Figure 6 Cross-sectional view along the EE direction.

[0025] Figure 8 This is a three-dimensional structural diagram of the grasping structure provided in an embodiment of the present invention.

[0026] Figure 9 This is a front view of the grasping structure provided in an embodiment of the present invention.

[0027] Figure 10 For along Figure 9 A cross-sectional view along the FF direction.

[0028] Figure 11 This is an exploded view of the grabbing structure provided in an embodiment of the present invention.

[0029] Figure 12 This is a schematic diagram showing the positional relationship between the floating roof, the insert finger, and the outer tube, provided in an embodiment of the present invention.

[0030] Figure 13 For along Figure 12 A cross-sectional view along the GG direction.

[0031] Figure 14 This is a cross-sectional view of the outer tube provided in an embodiment of the present invention.

[0032] Figure 15 This is a schematic diagram of the pressing mechanism and the feeding mechanism provided in an embodiment of the present invention in one working state.

[0033] Figure 16 For along Figure 15A cross-sectional view along the HH direction.

[0034] Figure 17 for Figure 16 Enlarged schematic diagram of region B in the middle.

[0035] Figure 18 The pressing mechanism provided in the embodiments of the present invention is Figure 17 A schematic diagram of the structure in another working state from a different perspective.

[0036] In the figure, the following reference numerals are used: 100, outer ring; 102, slot; 200, inner ring; 300, oil seal; 301, insertion part; 302, lip; 1, pressing mechanism; 11, frame one; 12, bearing positioning seat; 13, lifting drive; 14, receiving seat; 2, transfer mechanism; 21, frame two; 22, three-axis motion platform; 23, bearing gripper; 3, feeding mechanism; 31, frame three; 32, feed drive; 33, oil seal positioning seat; 331, positioning step. 1. Ladder 1; 332. Positioning Ladder 2; 4. Gripping Structure; 41. Slide; 411. Shaking Gap; 412. Guide Gap; 42. Floating Plate; 421. Surrounding Cavity; 422. Flow Channel; 423. Interface; 43. Insert Finger; 44. Outer Tube; 441. Suction Nozzle; 442. Tube Cavity; 443. Positioning Rib; 45. Shaking Actuator; 46. Guide Rail; 47. Radial Actuator; 471. Control Panel; 48. Boss; 481. Window; 5. Material Zone 1; 6. Material Zone 2. Detailed Implementation

[0037] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0038] It should be noted that when a component is referred to as "connected to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0041] Throughout this specification, reference to "an embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment," "in some embodiments," or "in some of these embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, a particular feature, structure, or characteristic may be combined in any suitable manner.

[0042] Please refer to Figures 1 to 18 As shown, the oil seal press-fitting structure for crossed roller bearings provided by the present invention will now be described. This oil seal press-fitting structure is used to press-fit an oil seal 300 onto a crossed roller bearing. The outer ring 100 of the crossed roller bearing has a circumferentially extending groove 102 on its inner peripheral wall. The outer edge of the oil seal 300 is an insertion portion 301 with a straight cross-section. The inner edge of the insertion portion 301 has a lip 302 inclined relative to the axis of the insertion portion 301. When the insertion portion 301 of the oil seal 300 is inserted into the groove 102 of the outer ring 100, the lip 302 of the oil seal 300 slides against the outer end face of the inner ring 200, forming a sliding seal between the lip 302 and the inner ring 200. Figure 2 , Figure 3 As shown, the oil seal press-fitting structure for crossed roller bearings includes a press-fitting mechanism 1. The press-fitting mechanism 1 includes a bearing positioning seat 12, a lifting drive 13, and a receiving seat 14 located above the bearing positioning seat 12. The upper end face of the bearing positioning seat 12 is used to place and position the crossed roller bearing. The lifting drive 13 is used to drive the receiving seat 14 to move up and down relative to the bearing positioning seat 12. The bottom of the receiving seat 14 is provided with multiple gripping structures 4, such as... Figures 8 to 13As shown, the gripping structure 4 includes a slide 41, a float 42, insert fingers 43, an outer tube 44, and a radial actuator 47. Driven by the radial actuator 47, the slide 41 reciprocates linearly along the radial direction of the receiving seat 14. The float 42 is mounted on the slide 41. The insert fingers 43 are arranged vertically on the float 42 at both ends. The outer tube 44 is sleeved around the insert fingers 43. The inner cavity of the outer tube 44 has a cavity 442, through which negative pressure can be provided to the end of the outer tube 44. The ends of the insert fingers 43 extend beyond the ends of the outer tube 44. Multiple gripping structures 4 are arranged in a circumferential array on the receiving seat 14, such as... Figure 17 and Figure 18As shown, the lifting driver 13 drives the receiving seat 14 to descend, causing the insertion fingers 43 of the multiple gripping structures 4 to insert into the insertion portion 301 of the oil seal 300. Simultaneously, the end of the outer tube 44 abuts against the insertion portion 301. Negative pressure provided by the cavity 442 causes the end of the outer tube 44 to adhere to the upper surface of the insertion portion 301. Subsequently, the sliding seats 41 of the multiple gripping structures 4 move towards the center of the multiple gripping structures 4. Utilizing the radial pulling effect of the insertion fingers 43 on the oil seal 300 and the adsorption and fixing effect of the outer tube 44 on the oil seal 300, the oil seal 300 can contract along the center. At this time, the radial force generated by the insertion fingers 43 into the oil seal 300... The resistance limits the radial retraction of the insertion part 301, and the outer tube 44 adheres to the upper end face of the insertion part 301, locking the insertion finger 43 axially onto the oil seal 300, preventing the insertion finger 43 from slipping or loosening relative to the oil seal 300 axially. Additionally, the outer tube 44's contact with the upper end face of the insertion part 301 limits the insertion depth of the insertion finger 43, maintaining consistency in the insertion depth of multiple insertion fingers 43. Subsequently, the lifting drive 13 drives the receiving seat 14 and the gripping structure 4 to descend, bringing the oil seal 300 closer to the crossed roller bearing on the bearing positioning seat 12, until the retracted insertion part 301 of the oil seal 300 and the groove 1 of the crossed roller bearing are engaged. 02. Then, by moving the slide 41 of the multiple gripping structures 4 away from the center of the gripping structures 4, the insertion part 301 of the oil seal 300 can be squeezed into the slot 102. During the process of the gripping structures 4 driving the insertion part 301 towards the slot 102, the insertion fingers 43 and the outer tube 44 limit the insertion part 301 in the axial direction of the oil seal 300. The abutment between the outer tube 44 and the outer end face of the insertion part 301 effectively restricts the axial torsional deformation of the insertion part 301. Simultaneously, the outer tube 44 adheres to the upper end face of the insertion part 301, making it difficult for the insertion part 301 to undergo torsional deformation in the axial direction of the oil seal 300, thus ensuring the insertion part... When moving radially, 301 maintains its alignment with the slot 102. In addition, by being adsorbed onto the insertion part 301 by the outer tube 44, the sliding of the insertion finger 43 relative to the oil seal 300 along the insertion finger 43 axis can be effectively restricted during the rebound of the oil seal 300. This keeps the insertion part 301 and the slot 102 in a coplanar alignment state, smoothly assembling the oil seal 300 onto the crossed roller bearing. Thus, through the above design, the oil seal press-fitting structure for crossed roller bearings provided by the present invention can replace manual labor to automatically grasp, retract, release, align, and press the oil seal 300 into the slot 102, realizing automated press-fitting of the oil seal 300.

[0043] In addition, by using the outer tube 44 to absorb and lock the area where the insertion finger 43 is inserted into the insertion part 301, the area where the insertion part 301 is inserted can be locked relative to the insertion finger 43, so as to counteract part of the tearing force generated between the insertion part 301 and the insertion finger 43 due to the deformation of the elastic restoring force, effectively avoiding excessive pulling between the part of the insertion finger 43 inserted into the insertion part 301 and the insertion part 301, which would cause serious damage to the area where the oil seal 300 is inserted.

[0044] In some embodiments, the puncture structure on the insertion part 301 caused by the insertion finger 43 can be subsequently treated by ultrasonic welding, so that the rubber puncture part is fused after high temperature, or by bonding with special rubber adhesive. Since the rubber material of the oil seal 300 is elastic, no further treatment is required if the impact is small.

[0045] like Figure 2 As shown, in some embodiments, the oil seal press-fitting structure for crossed roller bearings further includes a feeding mechanism 3 disposed beside the press-fitting mechanism 1, such as... Figure 5 , Figure 6 and Figure 7 As shown, the feeding mechanism 3 includes a feed driver 32 for outputting linear motion power, and an oil seal positioning seat 33 connected to the output end of the feed driver 32. The oil seal positioning seat 33 includes an annular positioning step 1 331 and an annular positioning step 2 332 located on the inner edge of the positioning step 1 331. The upper end surface of the positioning step 1 331 is higher than the upper end surface of the positioning step 2 332, so that the positioning step 1 331 can support the bottom of the insertion part 301, so that the oil seal 300 is positioned on the oil seal positioning seat 33 in the horizontal direction. When the oil seal 300 is moved onto the oil seal positioning seat 33 in the next process, the unique position of the oil seal 300 on the oil seal positioning seat 33 can be maintained. Furthermore, the positioning step 331 supports the bottom of the insertion part 301, providing axial support for the insertion finger 43 to penetrate downwards into the upper end face of the insertion part 301. When the oil seal positioning seat 33 is moved forward by the feed driver 32 to below the receiving seat 14, that is, above the bearing positioning seat 12, the downward movement of the receiving seat 14 allows the gripping structure 4 to grip the oil seal 300 on the oil seal positioning seat 33. Specifically, as shown... Figure 15 , Figure 16 and Figure 17 As shown, firstly, the feed driver 32 drives the oil seal positioning seat 33 forward to below the receiving seat 14. Then, the lifting driver 13 drives the receiving seat 14 downward until the insertion finger 43 inserts into the upper end face of the insertion portion 301 of the oil seal 300. Simultaneously, the end of the outer tube 44 abuts against the insertion portion 301. The cavity 442 provides negative pressure, causing the end of the outer tube 44 to adhere to the upper end face of the insertion portion 301. Subsequently, the slides 41 of the multiple gripping structures 4 move towards the center of the multiple gripping structures 4, causing the insertion portion 301 to retract radially inward. Figure 18As shown, the feed driver 32 then drives the oil seal positioning seat 33 to retract, and the lifting driver 13 drives the receiving seat 14 to continue to move down closer to the bearing positioning seat 12 until the insertion part 301 of the retracted oil seal 300 is aligned with the groove 102 of the crossed roller bearing. Then, the sliding seat 41 of the multiple gripping structures 4 moves away from the center of the multiple gripping structures 4, causing the insertion part 301 of the oil seal 300 to be pressed into the groove 102, thus completing the press-fitting of the oil seal 300 on the crossed roller bearing. In addition, the transfer of the oil seal 300 to the oil seal positioning seat 33 can be achieved by a vacuum chuck combined with the action mechanism, but is not limited to.

[0046] like Figure 10 As shown, in some embodiments, the axis of the insert 43 is inclined rather than perpendicular to the sliding path of the slide 41 on the receiving seat 14, and the insert 43 gradually approaches the center of the plurality of gripping structures 4 from top to bottom, such as... Figure 17 As shown, when the insertion finger 43 inserts into the insertion portion 301 of the oil seal 300 and the insertion portion 301 is retracted inward by moving the slide block 41, the insertion portion 301 will tend to deform outward under the action of elastic restoring force. This will cause the insertion portion 301 and the insertion finger 43 to be squeezed together, forming a component force that causes the insertion portion 301 to slide upward along the axis of the insertion finger 43, thereby resisting the downward displacement of the insertion portion 301 relative to the insertion finger 43, thus avoiding accidental loosening between the insertion finger 43 and the insertion portion 301, and further ensuring the uniqueness of the insertion depth of the insertion finger 43 into the oil seal 300, and ensuring the uniqueness of the relative position height between the insertion finger 43 and the oil seal 300.

[0047] It should be noted that during the process of the lifting drive 13 driving the receiving seat 14 and the gripping structure 4 to descend until the insertion finger 43 inserts into the insertion part 301, the slide 41 moves along the receiving seat 14 close to the center of the multiple gripping structures 4, so that the downward movement of the insertion finger 43 and the leftward movement of the insertion finger 43 constitute the combined movement of the insertion finger 43 inserting into the insertion part 301 axially. Similarly, when the insertion finger 43 is withdrawn from the insertion part 301, while the lifting drive 13 drives the receiving seat 14 and the gripping structure 4 to rise, the slide 41 moves along the receiving seat 14 away from the center of the multiple gripping structures 4.

[0048] like Figure 8 and Figure 9 As shown, in some embodiments, a jitter actuator 45 is installed between the floating disk 42 and the slide 41. The jitter actuator 45 is used to drive the floating disk 42 to move vertically up and down alternately on the slide 41, so as to offset angular deviations, reduce friction, and utilize gap tolerance. Specifically, as shown... Figure 18As shown, the vibrating actuator 45 drives the floating disk 42 to vibrate up and down, causing the insertion part 301 to vibrate up and down relative to the slot 102. Since the insertion part 301 and the slot 102 are fixed by an interference fit, the small-amplitude vibration dynamically adjusts the posture of the insertion part 301, allowing it to slide into the slot 102 along the guide surface, achieving automatic alignment. Furthermore, the vibration reduces the static friction resistance between the insertion part 301 and the slot 102. During vibration, the contact surface between the insertion part 301 and the slot 102 continuously forms tiny slides, transforming into dynamic friction, significantly reducing the resistance and making it easier for the insertion part 301 to advance into the slot 102. Finally, both the insertion part 301 and the slot 102 have minor tolerances due to manufacturing processes. The vibration allows the insertion part 301 to creep within the gap of the slot 102, eliminating local jamming points and avoiding the problem of one-sided jamming. Specifically, as... Figure 8 and Figure 9 As shown, the slide 41 is provided with a jitter gap 411, and the float 42 is housed in the jitter gap 411. Both the upper and lower parts of the float 42 have gaps to allow for vertical movement. A jitter actuator 45 is installed at the lower part of the float 42. When the jitter actuator 45 generates an outward thrust, it drives the float 42 upward; when the jitter actuator 45 generates an inward contraction force, it drives the float 42 downward. This cycle repeats, causing the float 42 to jitter slightly up and down. Specifically, in this embodiment, the radial actuator 47 is a piezoelectric actuator with a small size. The clever arrangement helps to reduce the overall volume of the gripping structure 4, so that more small gripping structures 4 can be arranged circumferentially on the receiving seat 14. This makes the gripping structure 4 suitable for small-sized oil seals 300. For large-sized oil seals 300, the tightly arranged gripping structure 4 can increase the amount of puncture by the interdigitated fingers 43 per unit volume on the oil seal 300, thereby exerting a strong pulling force on the oil seal 300. By increasing the amount of puncture by the interdigitated fingers 43 on the oil seal 300, it can resist the tearing caused by stress concentration due to the elastic recoil deformation of the oil seal 300.

[0049] like Figure 8 As shown, in some embodiments, the slide 41 is also provided with a guide slot 412, through which the outer tube 44 slides. The outer tube 44 is restricted from swinging by the cooperation between the outer tube 44 and the guide slot 412, thus preventing the outer tube 44 and the floating plate 42 from swaying in multiple directions. Specifically, multiple shaking actuators 45 are arranged in the circumferential direction of the floating plate 42, so that the floating plate 42 mainly achieves slight shaking in the vertical direction.

[0050] like Figure 10As shown, in some embodiments, the radial actuator 47 is an Elliptec elliptical motion piezoelectric motor, which drives the slide 41 to reciprocate linearly along the radial direction of the receiving seat 14 through the generated elliptical motion. Since the Elliptec elliptical motion piezoelectric motor uses the inverse piezoelectric effect to achieve controllable deformation for linear displacement drive, the small size design of the radial actuator 47 further helps to reduce the overall volume of the gripping structure 4; specifically, as Figure 8 and Figure 9 As shown, the gripping structure 4 also includes a guide rail 46, a slide block 41 is slidably mounted on the guide rail 46 along a straight line, and the guide rail 46 is fixedly mounted on the receiving seat 14, so that the slide block 41 can perform linear reciprocating motion on the receiving seat 14 along the radial direction of the receiving seat 14. The radial actuator 47 is mounted on the control plate 471, and the control plate 471 is fixedly mounted on the guide rail 46 or the receiving seat 14. The control plate 471 is used to control the action of the radial actuator 47.

[0051] like Figure 13 and Figure 14 As shown, in some embodiments, the sidewall of the cavity 442 of the outer tube 44 is provided with positioning ribs 443 extending axially along the outer tube 44. Multiple positioning ribs 443 are spaced apart in the cavity 442 along the circumference of the outer tube 44. The insertion finger 43 passes through the center of the multiple positioning ribs 443. On the one hand, the positioning ribs 443 in the cavity 442 provide positioning support for the insertion finger 43. On the other hand, the part of the cavity 442 outside the positioning ribs 443 and the insertion finger 43 is used for airflow.

[0052] like Figure 13 and Figure 14 As shown, in some embodiments, the end of the outer tube 44 is connected to a suction nozzle 441, which seals the gap of the contact surface when it abuts against the insertion part 301 to prevent air pressure leakage.

[0053] like Figure 13 As shown, in some embodiments, a boss 48 is fitted onto the end of the outer tube 44 that is close to the floating plate 42. The boss 48 is fixed to the floating plate 42, and the connection between the outer tube 44 and the floating plate 42 is made stable and not easy to shake through the boss 48. The inside of the boss 48 is provided with a cavity that connects to the pipe cavity 442. Multiple windows 481 are provided on the peripheral wall of the boss 48, and the windows 481 connect to the cavity inside the boss 48. The floating plate 42 is provided with a surrounding cavity 421 around the outer periphery of the boss 48. One side of the floating plate 42 is provided with an interface 423. A flow channel 422 is connected between the interface 423 and the surrounding cavity 421. A negative pressure generating device is connected to the interface 423 through a pipeline to control the generation of negative pressure in the pipe cavity 442, or to control the generation of positive pressure in the pipe cavity 442 to release the negative pressure adsorption effect of the outer tube 44 on the oil seal 300.

[0054] like Figure 13As shown, in some embodiments, the end of the insert finger 43 near the floating disk 42 passes through the boss 48 and is fixedly connected to the floating disk 42. Specifically, the end of the insert finger 43 near the floating disk 42 passes through the boss 48 and has an enlarged head end, which is fixedly connected to the floating disk 42 to improve the connection stability between the insert finger 43 and the floating disk 42.

[0055] like Figure 2 As shown, in some embodiments, the oil seal press-fitting structure for crossed roller bearings further includes a transfer mechanism 2 disposed beside the press-fitting mechanism 1. The transfer mechanism 2 is used to move the crossed roller bearings in material area 1 5 to the bearing positioning seat 12, and to move the crossed roller bearings on the bearing positioning seat 12 to material area 2 6, thereby completing the loading and unloading of the bearing positioning seat 12. Figure 4 As shown, specifically, the transfer mechanism 2 includes a three-axis motion platform 22 and a bearing gripper 23 mounted on the three-axis motion platform 22. The bearing gripper 23 moves between the material zone 1 5, the bearing positioning seat 12 and the material zone 2 6 by moving the three-axis motion platform 22. The bearing gripper 23 is a cylinder gripper.

[0056] like Figure 2 As shown, in some embodiments, the transfer mechanism 2 and the feeding mechanism 3 are arranged opposite each other on both sides of the pressing mechanism 1.

[0057] like Figure 2 As shown, in some embodiments, the pressing mechanism 1 further includes a frame 11, on which the lifting drive 13 and the bearing positioning seat 12 are mounted; the transfer mechanism 2 further includes a frame 21, on which the three-axis motion platform 22 is mounted; and the feeding mechanism 3 further includes a frame 31, on which the feed drive 32 is mounted. The frame 11, frame 21 and frame 31 are relatively fixed to each other.

[0058] like Figure 2 As shown, in some embodiments, the lifting driver 13 is a linear cylinder and the feed driver 32 is a linear cylinder.

[0059] like Figure 4 As shown, in some embodiments, the line connecting material zone 5 and material zone 6 is perpendicular to the line connecting transfer mechanism 2 and feeding mechanism 3.

[0060] In some embodiments, the bearing positioning seat 12 is detachably connected to the frame 11, so that the bearing positioning seat 12 can be replaced with different specifications of bearing positioning seat 12 according to actual production needs. The oil seal positioning seat 33 is detachably connected to the output end of the feed driver 32, so that the oil seal positioning seat 33 can be replaced with different specifications of oil seal positioning seat 33 according to actual production needs.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A press-fit structure for an oil seal in a crossed roller bearing, characterized in that: The device includes a pressing mechanism comprising a bearing positioning seat, a lifting actuator, and a receiving seat located above the bearing positioning seat. The lifting actuator drives the receiving seat to move up and down relative to the bearing positioning seat. The bottom of the receiving seat has multiple gripping structures, each including a slide, a floating plate, insert fingers, an outer tube, and a radial actuator. Driven by the radial actuator, the slide reciprocates linearly along the radial direction of the receiving seat. The floating plate is mounted on the slide. The insert fingers are arranged vertically on the floating plate, and the outer tube is sleeved over the insert fingers. The inner cavity of the outer tube has a tubular cavity that provides negative pressure to the end of the outer tube. The ends of the insert fingers extend beyond the end of the outer tube. Multiple gripping structures are arranged in a circumferential array on the receiving seat. The lifting actuator drives the receiving seat to descend, inserting the insert fingers of the multiple gripping structures into the insertion portion of the oil seal. Simultaneously, the end of the outer tube abuts against the insertion portion. A negative pressure is provided to cause the end of the outer tube to adhere to the upper surface of the insertion part. Then, the slide of the multiple gripping structures moves towards the center of the multiple gripping structures, which causes the oil seal to contract along the center. The lifting driver drives the receiving seat and the gripping structure to descend until the oil seal is close to the crossed roller bearing on the bearing positioning seat, until the insertion part of the contracted oil seal is aligned with the groove of the crossed roller bearing. The slide of the multiple gripping structures moves away from the center of the multiple gripping structures to squeeze the insertion part of the oil seal into the groove. A shaking actuator is installed between the floating disk and the slide. The shaking actuator is used to drive the floating disk to move vertically up and down alternately on the slide. The slide has a shaking gap, and the floating disk is housed in the shaking gap. There are gaps at the top and bottom of the floating disk. The shaking actuator is installed at the bottom of the floating disk. When the shaking actuator generates an outward thrust, it drives the floating disk to move upward. When the shaking actuator generates an inward contraction force, it drives the floating disk to move downward.

2. The oil seal press-fit structure for crossed roller bearings according to claim 1, characterized in that: The oil seal press-fitting structure for crossed roller bearings also includes a feeding mechanism disposed beside the press-fitting mechanism. The feeding mechanism includes a feed driver for outputting linear motion power and an oil seal positioning seat connected to the output end of the feed driver. The oil seal positioning seat includes an annular positioning step one and an annular positioning step two located on the inner edge of the positioning step one. The upper end surface of the positioning step one is higher than the upper end surface of the positioning step two. The positioning step one is used to support the bottom of the insertion part.

3. The oil seal press-fit structure for crossed roller bearings according to claim 1, characterized in that: The axis of the insert finger is inclined rather than perpendicular to the sliding path of the slide on the receiving seat, and the insert finger gradually approaches the center of the multiple gripping structures from top to bottom.

4. The oil seal press-fit structure for crossed roller bearings according to claim 1, characterized in that: The slide block is also provided with a guide slot, through which the outer tube slides.

5. The oil seal press-fit structure for crossed roller bearings according to claim 1, characterized in that: The outer tube has positioning ribs extending axially along the side wall of the tube cavity, and multiple positioning ribs are spaced apart along the circumference of the outer tube in the tube cavity, with the insertion finger passing through the center of the multiple positioning ribs.

6. The oil seal press-fit structure for crossed roller bearings according to claim 1, characterized in that: The outer tube is fitted with a boss at one end near the floating plate. The boss is fixed to the floating plate. The boss has a cavity inside that connects to the tube. The boss has multiple windows on its peripheral wall that connect to the cavity inside the boss. The floating plate has a surrounding cavity around the outer periphery of the boss. One side of the floating plate is located at an interface. A flow channel connects the interface and the surrounding cavity.

7. The oil seal press-fit structure for crossed roller bearings according to any one of claims 1-6, characterized in that: The oil seal press-fit structure for crossed roller bearings also includes a transfer mechanism located beside the press-fit mechanism. The transfer mechanism includes a three-axis motion platform and bearing grippers mounted on the three-axis motion platform.

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