A cross roller bearing roller assembly apparatus

Abstract

The application relates to the field of bearing production and discloses a roller assembling device for crossed roller bearings, which comprises a bearing positioning tool, a downward-pressing rotary driving assembly, a roller hopper, a roller inclined transfer frame, a transfer roller ejection assembly, a feeding suction nozzle assembly and a rotary driving piece. The bearing is arranged in the positioning tool, the downward-pressing rotary driving assembly drives the rotation of the inner ring of the bearing, the roller hopper supplies the inclined transfer frame with the roller through a conveying pipeline, so that the roller is in an inclined state; the transfer roller ejection assembly ejects the roller and transfers the roller to the feeding suction nozzle assembly, the feeding suction nozzle assembly drives the rotation of the roller to realize the cross arrangement of adjacent rollers and the loading of the rollers into the bearing raceway; the rotary driving piece is connected with the feeding suction nozzle assembly, and drives the rotation of the outer ring of the bearing by a preset angle after the roller is inserted into the raceway, and the rotation directions of the outer ring and the inner ring are opposite. The whole machine is small in size, the inner ring and the outer ring of the bearing rotate in opposite directions to produce controllable relative dislocation, and it is ensured that the roller can reliably separate from the installation opening range.

Description

Technical Field

[0001] This invention relates to the field of bearing manufacturing technology, and more specifically, to a roller assembly device for crossed roller bearings. Background Technology

[0002] Cross-roller bearings are widely used in robot joints. In a cross-roller bearing, adjacent rollers are arranged in an X-shaped cross pattern. This cross-shaped arrangement prevents the inner and outer rings from separating circumferentially. Some small cross-roller bearings use cylindrical rollers with a diameter of 2mm and a height of 1.9mm. During assembly, the inner and outer rings are fitted together. The outer ring has an insertion port for the rollers. This insertion port is connected to a V-shaped right-angle groove on both the inner and outer rings, each at a 45-degree angle. These grooves connect to form a roller channel, allowing adjacent rollers within this channel to be arranged in an X-shaped cross pattern.

[0003] Existing roller assembly equipment for crossed roller bearings typically includes two roller feeding vibratory feeders for conveying two types of rollers arranged in a crossed configuration. Simultaneously, two corresponding roller feeding mechanisms are also installed. These mechanisms alternately feed rollers with different inclination directions, placing them from the mounting port into the roller channel, ensuring that adjacent rollers within the channel are arranged in an X-shaped cross configuration. Once the rollers are placed into the roller channel, a downward-pressing rotation mechanism presses against the upper surface of the bearing inner ring, causing the inner ring to rotate only a certain angle. This rotational friction then removes the rollers from the mounting port.

[0004] In the aforementioned technology, to achieve cross-assembly of rollers, two sets of roller feeding vibratory feeders and matching roller feeding mechanisms are required. This results in numerous and complex components, leading to a large overall equipment size and high cost. Furthermore, because adjacent rollers are arranged in a 45-degree angled cross configuration, the outer wall of the roller facing the same direction abuts against the upper wall of the right-angled annular groove of the bearing inner ring, while the outer wall of the roller facing the other direction abuts against the upper wall of the right-angled annular groove of the bearing outer ring. When the roller channel is not fully filled, the bearing inner ring, under downward pressure and rotating, easily causes the roller facing the same direction to be moved, while the roller facing the other direction is difficult to move or cannot be moved a set distance and remains within the mounting opening. This requires manual removal of the roller from the mounting opening using tweezers, affecting the installation of subsequent rollers and consequently impacting the continuity and efficiency of roller assembly. Summary of the Invention

[0005] To address at least one of the aforementioned problems, the present invention provides a roller assembly device for crossed roller bearings, comprising a bearing positioning fixture, a downward rotary drive assembly, a roller hopper, a roller tilting transfer frame, a transfer roller ejection assembly, a feeding nozzle assembly, and a rotary drive component connected to a base. The bearing to be installed (with rollers) is positioned on the bearing positioning fixture. The downward rotary drive assembly is located above the bearing positioning fixture and is adapted to abut against the top surface of the bearing inner ring to drive the bearing inner ring to rotate. The roller hopper is located above the roller tilting transfer frame, which has an inclined feed channel for tilting the rollers. The bottom of the roller hopper has a roller conveying pipe communicating with the inclined feed channel to convey rollers into the inclined feed channel. The intermediate roller ejection assembly is connected to the roller tilting intermediate frame to eject the inclined rollers from the inclined material channel. The feeding nozzle assembly is located below the roller tilting intermediate frame to receive the rollers ejected by the intermediate roller ejection assembly and is adapted to drive the corresponding rollers to rotate, so as to install the inclined rollers into the roller channel of the bearing and arrange adjacent rollers in a cross arrangement. The rotary drive is connected to the feeding nozzle assembly. After the feeding nozzle assembly inserts the rollers into the roller channel, the rotary drive is adapted to drive the feeding nozzle assembly to rotate the outer ring of the bearing by a preset angle. After the outer ring of the bearing rotates by the preset angle, the feeding nozzle assembly is adapted to put the rollers into the roller channel. The rotation direction of the outer ring of the bearing is opposite to the rotation direction of the inner ring of the bearing.

[0006] Optionally, a first support frame is installed on the top of the base. The downward rotation drive assembly includes a downward rotation motor, a downward block, a downward frame, and a downward cylinder. The bottom surface of the downward block is adapted to abut against the top surface of the inner ring of the bearing. The downward rotation motor is installed on the downward frame and connected to the downward block to drive the downward block to rotate the inner ring of the bearing. The downward frame is slidably connected to the first support frame. The downward cylinder is installed on the first support frame and connected to the downward frame to drive the downward rotation motor to lift and lower.

[0007] Optionally, a second upright is installed on the top of the base, and the roller hopper and the roller tilting transfer frame are both installed on the second upright. A transfer frame lifting drive is installed on the top of the second upright, and the transfer frame lifting drive is connected to the roller tilting transfer frame so that the roller tilting transfer frame drives the transfer roller ejection assembly to move up and down relative to the feeding nozzle assembly.

[0008] Optionally, a metal discharge pipe is slidably inserted into the bottom of the roller hopper, the upper end of the discharge pipe is inserted into the roller hopper and communicates with the inside of the roller hopper, so that the rollers fall into the discharge pipe in a stacked state, and the roller conveying pipe is connected to the bottom end of the discharge pipe; a discharge cylinder is provided on the second upright, the discharge cylinder is connected to the discharge pipe, so as to drive the discharge pipe to move up and down, so that the rollers are not easily stuck at the opening at the top of the discharge pipe.

[0009] Optionally, the roller tilting transfer frame has a roller top outlet on the side near the feeding nozzle assembly, the roller top outlet is connected to the tilting material channel, and the transfer roller ejection assembly is adapted to eject the roller at the roller top outlet; the roller tilting transfer frame has a roller inlet on the side opposite to the roller top outlet, which is connected to the roller conveying pipe; the roller inlet and the roller top outlet are arranged alternately, and the roller tilting transfer frame is equipped with a roller pushing assembly, which is adapted to be inserted into the tilting material channel and push a single roller from the roller inlet to the roller top outlet.

[0010] Optionally, the roller pushing assembly includes a pushing plate and a pushing cylinder. The pushing plate is slidably inserted into the inclined feed channel. The pushing plate has a roller positioning groove that communicates with the roller feed inlet and can accommodate one roller. The roller positioning groove passes through the pushing plate and is adapted to communicate with the roller top outlet. The pushing cylinder is connected to the pushing plate to drive the pushing plate to reciprocate between the roller feed inlet and the roller top outlet. When the pushing plate drives the roller to move from the roller feed inlet to the roller top outlet, the pushing plate is adapted to block the roller feed inlet.

[0011] Optionally, the transfer roller ejection assembly is located on the side of the roller inclined transfer frame where the roller feed inlet is opened. The transfer roller ejection assembly includes an ejector nozzle and a roller ejection cylinder. The groove wall of the inclined channel opposite to the roller top outlet has a nozzle insertion hole for the ejector nozzle to be inserted. The end of the ejector nozzle is adapted to generate negative pressure to adsorb the roller moved to the roller top outlet. The roller ejection cylinder is connected to the ejector nozzle to drive the ejector nozzle to eject the roller at the roller top outlet and transfer it to the feeding nozzle assembly.

[0012] Optionally, the roller assembly equipment for the crossed roller bearing further includes a roller assembly positioning detection component for detecting whether the installed rollers have been rotated outside the mounting port. The roller assembly positioning detection component is connected to the downward rotation drive component. The roller assembly positioning detection component includes a lifting base plate, a probe mounting plate, a detection probe, a probe cylinder, a linear resistor, and a detection lifting cylinder. The detection lifting cylinder is connected to the lifting base plate and drives the lifting base plate to move up and down. The probe cylinder and the linear resistor are both mounted on the lifting base plate and move up and down synchronously with the lifting base plate. The detection probe is connected to the probe mounting plate, and the probe cylinder is connected to the probe mounting plate to drive the probe to move. The detection probe is adapted to be inserted into the bearing roller channel through the mounting port. The linear resistor is adapted to detect the resistance during the movement of the detection probe by the mounting plate to determine whether a roller is stationary at the mounting port.

[0013] Optionally, the rotary drive is connected to a rotary plate, and the rotary drive is adapted to drive the rotary plate to rotate. The mounting port of the bearing outer ring faces the feeding nozzle assembly. The feeding nozzle assembly includes a steering motor, a pin insertion nozzle, and a feeding cylinder, all mounted on the rotary plate and rotating synchronously with the rotary plate. The pin insertion nozzle is connected to an air source, and its end is under negative pressure. The end of the pin insertion nozzle has an inclined right-angle notch for tilting and positioning the roller. The pin insertion nozzle is connected to the steering motor, and the steering motor is adapted to drive the pin insertion nozzle to rotate the roller so that two adjacent rollers in the roller channel can be arranged in a cross shape. The feeding cylinder is adapted to drive the steering motor to slide the pin insertion nozzle so that the pin insertion nozzle is inserted into the mounting port and, driven by the rotary drive, rotates the bearing outer ring by a preset angle. After the roller is installed, the rotary drive drives the pin insertion nozzle to rotate the bearing outer ring back to its original position, while the bearing inner ring remains stationary.

[0014] Optionally, the feeding nozzle assembly further includes a motor sliding base, a motor base, and a fine-tuning component. The steering motor is fixedly mounted on the motor base, and the motor base is slidably connected to the motor sliding base. The sliding direction of the motor base is the driving direction of the feeding cylinder. The fine-tuning component is threadedly connected to the motor sliding base and to the motor base to fine-tune and lock the positions of the steering motor and the needle nozzle. The feeding cylinder is connected to the motor sliding base to drive the motor sliding base to move the motor base and the steering motor synchronously.

[0015] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0016] 1. A single roller hopper, roller tilting transfer frame, and feeding nozzle assembly replaces the traditional design that requires two sets of vibratory feeders and two sets of feeding mechanisms. Only one feeding source is needed to achieve directional supply and attitude adjustment of the rollers, significantly reducing the number of equipment parts, decreasing the overall size, lowering manufacturing costs, and simplifying maintenance. Furthermore, by driving the inner and outer rings of the bearing to rotate in opposite directions, a controllable relative misalignment is created at the mounting port on the V-shaped raceways of the inner and outer rings, actively creating the necessary conditions for roller displacement. Both sets of rollers with different orientations can obtain effective driving force. At the same time, the feeding nozzle assembly continuously adsorbs the rollers during the displacement stage. Only after the outer ring rotates to a set angle will the rollers be placed in the roller channel, forming an active avoidance structure for the installation port. This ensures that the rollers can reliably leave the installation port range, solves the problem of rollers getting stuck in the installation port, ensures the continuity of subsequent roller installation, improves assembly efficiency, makes the force more balanced when each roller rotates and shifts, ensures that each roller can be moved to the set distance, and improves the consistency and reliability of the assembly.

[0017] 2. During the process of resetting the outer ring of the bearing separately (while keeping the inner ring stationary), the inclined surface of the V-groove of the outer ring generates sliding friction with the rollers that have fallen into the raceway. This frictional force forms a unidirectional thrust along the circumference, which pushes the rollers further into the depth of the bearing roller channel and presses the preceding rollers together. This not only eliminates the accumulated gap between the rollers, but also ensures the tightness and consistency of the roller arrangement, thus improving the assembly quality of the bearing.

[0018] 3. The inclined material channel on the roller tilting transfer frame keeps the roller in an inclined state. At the same time, the end of the pin suction nozzle in the feeding nozzle assembly is provided with an inclined right-angle notch, which can accurately match and position the roller in an inclined state. It is firmly adsorbed by negative pressure, ensuring that the roller is stable and does not deviate during the transfer and installation process. The steering motor can drive the pin suction nozzle to rotate the roller, so that two adjacent rollers installed in the bearing roller channel are arranged in a cross shape. That is, a single station mechanism can realize the cross arrangement of two adjacent rollers, simplifying the assembly mechanism and reducing costs.

[0019] 4. The probe cylinder drives the detection probe to insert into the installation port, and the resistance change during the movement of the probe is monitored in real time by a linear resistor or linear resistor. It can automatically determine whether there are still residual rollers at the installation port, and ensure that the next roller is assembled when the installation port is unobstructed. Attached Figure Description

[0020] Figure 1 The structure of the assembly equipment in the embodiment of the present invention Figure 1 ;

[0021] Figure 2 The structure of the assembly equipment in the embodiment of the present invention Figure 2 ;

[0022] Figure 3 The structure of the assembly equipment in the embodiment of the present invention Figure 3 ;

[0023] Figure 4 This is a structural diagram of the bearing positioning fixture and the feeding nozzle assembly in an embodiment of the present invention;

[0024] Figure 5 This is a structural diagram of the roller hopper, roller tilting transfer frame, transfer roller ejection assembly, and roller pushing assembly in an embodiment of the present invention;

[0025] Figure 6 The structure of the intermediate roller ejection assembly and the roller pushing assembly in the embodiments of the present invention. Figure 1 ;

[0026] Figure 7 The structure of the intermediate roller ejection assembly and the roller pushing assembly in the embodiments of the present invention. Figure 2 ;

[0027] Figure 8 This is an exploded view of the intermediate roller ejection assembly and the roller pushing assembly in an embodiment of the present invention;

[0028] Figure 9 This is a structural diagram of the feeding nozzle assembly in an embodiment of the present invention;

[0029] Figure 10 This is an exploded view of the feeding nozzle assembly in an embodiment of the present invention;

[0030] Figure 11 This is a partial enlarged view of an embodiment of the present invention;

[0031] Figure 12 This is a structural diagram of the downward rotary drive assembly and the roller assembly positioning detection assembly in an embodiment of the present invention;

[0032] Figure 13 This is a structural diagram of the roller assembly positioning detection component in an embodiment of the present invention.

[0033] Explanation of reference numerals in the attached drawings: 1. Bearing positioning fixture; 11. Positioning inner cylinder; 12. Positioning arc strip; 13. Light sensor; 2. Downward rotation drive assembly; 21. Downward rotation motor; 22. Downward block; 23. Downward frame; 24. Downward cylinder; 3. Roller hopper; 31. Roller conveying pipe; 32. Discharge and unblocking pipe; 33. Unblocking cylinder; 34. Drive plate; 4. Roller tilting transfer frame; 41. Transfer frame lifting drive component; 42. Inclined material channel; 43. Roller top outlet; 44. Roller inlet; 5. Transfer roller ejection assembly; 51. Ejector nozzle; 52. Roller ejection cylinder; 6. Feeding nozzle assembly; 61. 62. Steering motor; 63. Needle suction nozzle; 64. Inclined right-angle notch; 65. Feeding cylinder; 66. Motor sliding base; 67. Motor base; 68. Fine-tuning component; 79. Threaded sleeve; 80. Fine-tuning bolt; 71. Rotary drive component; 81. Rotary plate; 82. Rotation blocking assembly; 93. Blocking cylinder; 94. Blocking bar; 95. Roller pushing assembly; 10. Pushing plate; 11. Pushing cylinder; 12. Roller positioning groove; 13. Roller assembly in place detection assembly; 14. Lifting base plate; 15. Probe mounting plate; 16. Detection probe; 17. Probe cylinder; 18. Linear resistor; 19. Detection lifting cylinder. Detailed Implementation

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the following description is provided in conjunction with the accompanying drawings. Figures 1-13 This application will be described in further detail.

[0035] This invention provides a roller assembly device for crossed roller bearings, referring to... Figures 1 to 3The roller assembly equipment for crossed roller bearings includes a bearing positioning fixture 1 connected to a base, a downward rotary drive assembly 2, a roller hopper 3, a roller tilting transfer frame 4, a transfer roller ejection assembly 5, a feeding suction nozzle assembly 6, and a rotary drive component 7. The bearing to be installed is positioned on the bearing positioning fixture 1. The downward rotary drive assembly 2 is located above the bearing positioning fixture 1 and is adapted to abut against the top surface of the bearing inner ring to drive the bearing inner ring to rotate. The roller hopper 3 is located above the roller tilting transfer frame 4. A roller conveying pipe 31 is connected to the bottom of the roller hopper 3, and the other end of the roller conveying pipe 31 is connected to the roller tilting transfer frame 4, so that the rollers in the roller hopper 3 fall sequentially one by one into the roller tilting transfer frame 4 under the action of gravity. After the roller falls onto the roller tilting transfer frame 4, it is tilted. The transfer roller ejection assembly 5 then attracts the tilted roller and ejects it from the roller tilting transfer frame 4. The feeding nozzle assembly 6 is located below the roller tilting transfer frame 4 to receive the roller ejected by the transfer roller ejection assembly 5 and install the tilted roller into the roller channel of the bearing, with adjacent rollers arranged in a staggered pattern. The rotary drive 7 is connected to the feeding nozzle assembly 6. After the feeding nozzle assembly 6 inserts the roller into the roller channel, the rotary drive 7 is adapted to drive the feeding nozzle assembly 6 to rotate the outer ring of the bearing by a preset angle. After the outer ring of the bearing rotates by the preset angle, the feeding nozzle assembly 6 is adapted to place the roller into the roller channel. The rotation direction of the outer ring of the bearing is opposite to that of the inner ring of the bearing (the outer ring rotates counterclockwise, and the inner ring rotates clockwise). By driving the inner and outer rings of the bearing to rotate in opposite directions, the V-shaped raceways on the inner and outer rings are repositioned in a controllable relative manner at the mounting port. At the same time, the feeding nozzle assembly 6 continuously picks up the rollers during the displacement phase. Only after the outer ring rotates to a set angle will the rollers be placed in the roller channel, forming an active avoidance structure at the mounting port, which ensures that the rollers can reliably leave the mounting port area.

[0036] Reference Figure 3 and Figure 4 A support frame is fixedly installed on the top of the base, and the bearing positioning fixture 1 is rotatably installed on the top of the support frame. The top of the positioning fixture is provided with a positioning inner cylinder 11, which rotates synchronously with the bearing positioning fixture 1, and the bearing inner ring rotates and is fitted onto the positioning inner cylinder 11; the top of the positioning fixture is integrally formed with positioning arc strips 12, and two positioning arc strips 12 are symmetrically spaced around the outer wall of the positioning inner cylinder 11. The outer wall of the bearing outer ring is in contact with the inner arc surface of the two positioning arc strips 12, so that the bearing outer ring and the bearing inner ring are concentrically positioned.

[0037] A light sensor 13 is installed on the top of the support frame, located on the side of the bearing positioning fixture 1 away from the feeding nozzle assembly 6. When the bearing outer ring is placed, the mounting opening on the outer wall of the bearing outer ring faces the light sensor 13, which emits light. The worker adjusts the bearing outer ring to ensure that the light emitted by the light sensor 13 illuminates the mounting opening. The top surface of the bearing inner ring is flush with the top surface of the positioning inner cylinder 11. After the downward rotation drive assembly 2 abuts against the top surface of the bearing inner ring, it will also abut against the top surface of the positioning inner cylinder 11. The smoothness of rotation of the bearing positioning fixture 1 and the positioning inner cylinder 11 is greater than that of the bearing inner ring; that is, the rotational resistance of the bearing positioning fixture 1 and the positioning inner cylinder 11 is much less than the resistance of the bearing inner ring relative to the bearing positioning fixture 1. Therefore, after the bearing is positioned, the downward rotation drive assembly 2 can drive the entire bearing positioning fixture 1 and the inner cylinder to rotate 180 degrees, so that the mounting port is aligned with the feeding nozzle assembly 6, thereby improving the alignment accuracy between the mounting port and the feeding nozzle assembly 6.

[0038] Reference Figure 3 and Figure 4 Two sets of rotation blocking assemblies 8 are symmetrically arranged on the top of the support frame along the front-to-back direction. Both sets of rotation blocking assemblies 8 are located on the side of the bearing positioning fixture 1 closest to the feeding nozzle assembly 6. Each rotation blocking assembly 8 includes a blocking cylinder 81 and blocking bars 82. When the rotation of the bearing positioning fixture 1 needs to be locked, the two blocking cylinders 81 drive the two blocking bars 82 to move closer together and abut against the bearing positioning fixture 1 within its range, thus preventing the bearing positioning fixture 1 from rotating clockwise or counterclockwise. When the bearing positioning fixture 1 needs to be rotated, the two blocking cylinders 81 drive the two blocking bars 82 away from each other, completely disengaging them from the bearing positioning fixture 1. In this way, when the feeding nozzle assembly 6 and the mounting port are aligned, a stable alignment between the feeding nozzle assembly 6 and the mounting port can be ensured. The two blocking cylinders 81 are connected to an air source via air pipes and solenoid valves, respectively, and can operate according to the controller's programmed settings.

[0039] A first upright is bolted to the top of the base, and the first upright is located behind the support frame. The downward rotation drive assembly 2 includes a downward rotation motor 21, a downward block 22, a downward frame 23, and a downward cylinder 24. The downward rotation motor 21 is bolted to the downward frame 23. The downward block 22 is a rotating body and is fixedly installed on the motor shaft of the downward rotation motor 21, and the downward block 22 is located at the lowest end of the downward frame 23. The bottom surface of the downward block 22 is adapted to abut against the top surface of the bearing inner ring, so that the downward rotation motor 21 can drive the downward block 22 to drive the bearing inner ring to rotate. The downward block 22 is also adapted to abut against the top surface of the positioning inner cylinder 11, but since the rotation blocking assembly 8 locks the rotation of the bearing positioning fixture 1, the downward block 22 only drives the bearing inner ring to rotate during the downward assembly of the roller. The pressing cylinder 24 is bolted to the top of the first upright. The pressing cylinder 24 is connected to an air source via an air pipe and a solenoid valve, enabling it to operate according to the program set by the controller. A T-block is threadedly connected to the telescopic rod of the pressing cylinder 24. The top of the pressing frame 23 has a T-slot for the T-block to insert into and fit, allowing the pressing cylinder 24 to drive the pressing frame 23 to synchronously raise and lower the pressing rotary motor 21, thus switching between pressing and releasing the inner ring of the bearing.

[0040] Preferably, a first linear guide rail is bolted onto the first upright, and the first linear guide rail extends vertically. A first slider is slidably mounted on the first linear guide rail, and the lower pressure frame 23 is connected to the first slider by bolts and moves synchronously, thereby enabling the lower pressure frame 23 to move stably in a set direction under the action of the lower pressure cylinder 24.

[0041] Reference Figure 2 A second upright is bolted to the top of the base, located to the left of the first upright. The roller hopper 3 has an inverted cone shape inside, meaning its inner diameter gradually narrows from top to bottom, allowing the rollers inside to descend and accumulate at the bottom. The roller hopper 3 is fixedly mounted to the top of the second upright with bolts.

[0042] Reference Figure 2 and Figure 5A stainless steel discharge pipe 32 is slidably inserted into the bottom of the roller hopper 3. The upper end of the discharge pipe 32 is inserted into the roller hopper 3 so that the rollers fall into the discharge pipe 32 in a stacked state. The axis of the rollers in the discharge pipe 32 is vertical. A discharge cylinder 33 is bolted to the second upright. The discharge cylinder 33 is located below the discharge pipe 32 and is staggered with the discharge pipe 32 to avoid interfering with the up and down movement of the discharge pipe 32. A drive plate 34 is connected to and moves synchronously on the telescopic rod of the discharge cylinder 33. The bottom end of the discharge pipe 32 passes through the drive plate 34 and is located below the drive plate 34. It is connected to the drive plate 34 by a set bolt to achieve synchronous movement. In this way, the controller can control the discharge cylinder 33 to drive the drive plate 34 and the discharge pipe 32 to move up and down. When the discharge pipe 32 rises to its highest point within the roller hopper 3, it is above the roller's "liquid level"; when it descends to its lowest point within the roller hopper 3, it is located at the lowest end of the roller's "liquid level." This design prevents the opening at the upper end of the discharge pipe 32 from becoming stuck, ensuring that the rollers in the roller hopper 3 can smoothly and sequentially enter the discharge pipe 32. The unblocking cylinder 33 is connected to an air source via an air pipe and a solenoid valve, enabling it to operate according to the program set by the controller.

[0043] The top end of the roller conveying pipe 31 is tightly connected to the bottom end of the discharge pipe 32, preventing it from easily falling off (it can also be fixed with glue), allowing the rollers inside the discharge pipe 32 to fall into the roller conveying pipe 31. The roller conveying pipe 31 is located in front of the discharge cylinder 33 and spaced apart, thus avoiding interference with the discharge cylinder 33. The roller conveying pipe 31 is a flexible hose, and during the movement of the discharge pipe 32, the roller conveying pipe 31 has sufficient leeway to ensure the stability of its connection with the roller tilting transfer frame 4. In addition, because the roller conveying pipe 31 is filled with stacked rollers, even if the roller conveying pipe 31 bends, it will bend by a certain arc, without creating a dead angle that affects the conveying of the rollers, and the smoothness of the roller conveying is also ensured as it moves and resets.

[0044] Reference Figure 2 and Figure 5The intermediate roller ejection assembly 5 is installed on the roller tilting intermediate transfer frame 4, and the roller tilting intermediate transfer frame 4 is also equipped with a roller pushing assembly 9. The roller pushing assembly 9 pushes the rollers fed to the roller tilting intermediate transfer frame 4 to the position of the intermediate roller ejection assembly 5. The roller tilting intermediate transfer frame 4 is slidably mounted on the second upright. The top of the second upright is bolted with an intermediate transfer frame lifting drive 41, which is located behind the roller hopper 3 and spaced apart from the roller hopper 3. The intermediate transfer frame lifting drive 41 is a lifting cylinder, which is connected to an air source through an air pipe and a solenoid valve, and can operate according to the program set by the controller. A T-block is threadedly connected to the telescopic rod of the transfer frame lifting drive 41. The top of the roller tilting transfer frame 4 is provided with a T-slot for the T-block to be inserted and adapted, so that the transfer frame lifting drive 41 can drive the roller tilting transfer frame 4 to move the roller pushing assembly 9 and the transfer roller ejection assembly 5 up and down synchronously. Thus, when the feeding nozzle assembly 6 installs the roller into the bearing, the roller tilting transfer frame 4 drives the roller pushing assembly 9 and the transfer roller ejection assembly 5 to rise and make room. After the feeding nozzle assembly 6 is installed and reset, the roller tilting transfer frame 4 drives the roller pushing assembly 9 and the transfer roller ejection assembly 5 to descend, so as to transfer the roller to the feeding nozzle assembly 6, and so on.

[0045] Preferably, a second linear guide rail is bolted to the second upright, and the second linear guide rail extends vertically. A second slider is slidably mounted on the second linear guide rail, and the roller tilting transfer frame 4 is connected to the second slider by bolts and moves synchronously, thereby enabling the roller tilting transfer frame 4 to move stably in a set direction under the action of the transfer frame lifting drive 41.

[0046] When the transfer frame lifting drive 41 drives the roller tilting transfer frame 4 to rise, the unblocking cylinder 33 drives the drive plate 34 and the unloading unblocking pipe 32 to rise; correspondingly, it also moves down synchronously during the downward movement, thereby reducing the bending degree of the roller conveying pipe 31 and ensuring the smooth conveying of the rollers by the roller conveying pipe 31.

[0047] Reference Figure 5 and Figure 6 The roller tilting transfer frame 4 is provided with an inclined material channel 42 that tilts the roller. In this embodiment, the roller is preferably tilted at 45 degrees relative to the vertical direction after installation. Therefore, the inclined material channel 42 is a material channel tilted at 45 degrees. The roller conveying pipe 31 conveys the roller into the inclined material channel 42, thus ensuring that the roller is tilted at 45 degrees after being conveyed into the inclined material channel 42.

[0048] Reference Figures 5 to 8The roller tilting transfer frame 4 has a roller top outlet 43 on the side near the feeding nozzle assembly 6. The roller top outlet 43 is an opening tilted at 45 degrees and is connected to the tilting material channel 42. On the side of the roller tilting transfer frame 4 opposite to the roller top outlet 43, there is a roller inlet 44. The roller inlet 44 is also an opening tilted at 45 degrees. The roller conveying pipe 31 is tightly inserted into the roller inlet 44 (or it can be inserted and then glued in place). The rollers in the roller conveying pipe 31 can sequentially enter the tilting material channel 42 through the roller inlet 44. The roller feed inlet 44 and the roller top outlet 43 are arranged at intervals in the front-to-back direction. The roller top outlet 43 is located in front of the roller feed inlet 44. The roller pushing assembly 9 is adapted to be inserted into the inclined material channel 42 and pushes a single roller from the roller feed inlet 44 to the roller top outlet 43. The intermediate roller ejection assembly 5 is adapted to eject the roller from the top outlet to transfer it to the feeding suction nozzle assembly 6.

[0049] The roller pushing assembly 9 is located at the rear of the inclined feed channel 42. The roller pushing assembly 9 includes a pushing plate 91 and a pushing cylinder 92. The pushing plate 91 is slidably inserted into the inclined feed channel 42. The cylinder body of the pushing cylinder 92 is fixed to the roller inclined transfer frame 4 by bolts. The telescopic rod of the pushing cylinder 92 is threadedly connected to the pushing plate 91 and moves synchronously, driving the pushing plate 91 to reciprocate between the roller inlet 44 and the roller top outlet 43, thereby pushing the roller at the roller inlet 44 to the roller top outlet 43. The pushing cylinder 92 is connected to an air source via an air pipe and a solenoid valve, enabling it to operate according to the program set by the controller.

[0050] Reference Figure 7 and Figure 8 The pusher plate 91 has a roller positioning groove 93 that communicates with the roller feed inlet 44 and can accommodate one roller. The roller positioning groove 93 passes through the pusher plate 91 and is adapted to communicate with the roller top outlet 43. When the pusher plate 91 moves the roller from the roller feed inlet 44 to the roller top outlet 43, the pusher plate 91 is adapted to block the roller feed inlet 44, effectively preventing multiple rollers from entering at the same time or subsequent rollers from falling prematurely, ensuring that only one roller is accurately pushed to the roller top outlet 43 each time, and the material supply is orderly; in addition, it also ensures that the roller is always tilted at a 45-degree angle during the movement. In another embodiment, the pusher plate 91 may not have a roller positioning groove 93, and the roller directly enters the inclined material channel 42, and the pusher plate 91 pushes the roller located in the inclined material channel 42 to the roller top outlet 43.

[0051] The intermediate roller ejection assembly 5 is located on one side of the roller tilting intermediate frame 4 where the roller feed port 44 is opened. The intermediate roller ejection assembly 5 includes an ejector nozzle 51 and a roller ejection cylinder 52. The ejector nozzle 51 is connected to an air source through an air pipe and a solenoid valve, so that the end of the ejector nozzle 51 is under negative pressure, which can adsorb the roller. The cylinder body of the roller ejection cylinder 52 is connected to the roller tilting intermediate frame 4 by bolts. The telescopic rod of the roller ejection cylinder 52 is threadedly connected to the ejector nozzle 51, thereby driving the ejector nozzle 51 to eject the roller from the roller top outlet 43 and transfer it to the feeding nozzle assembly 6.

[0052] The inclined feed channel 42 has a suction nozzle insertion hole on the side of the channel opposite to the roller top outlet 43 for inserting the ejector needle suction nozzle 51. The suction nozzle insertion hole is concentric with the roller top outlet 43. Both the suction nozzle insertion hole and the ejector needle suction nozzle 51 are inclined at 45 degrees. Therefore, the negative pressure generated at the end of the ejector needle suction nozzle 51 can adsorb the top end of the roller, so that the roller maintains a stable 45-degree inclined state during the process of being ejected and transferred to the feeding suction nozzle assembly 6.

[0053] Reference Figure 3 and Figure 9 In this embodiment, the preferred rotary drive component 7 is a hollow rotary platform (existing technology, including a base, a servo motor mounted on the base, and a hollow rotary ring; the servo motor drives the hollow rotary ring to rotate relative to the base via a transmission gear set). The base of the hollow rotary platform is fixedly mounted to the base plate with bolts. A rotating plate 71 is bolted onto the hollow rotary ring of the hollow rotary platform, and the feeding nozzle assembly 6 is mounted on the rotating plate 71. Thus, the hollow rotary platform can drive the rotating plate 71 to rotate the feeding nozzle assembly 6 and the bearing outer ring relative to the bearing positioning fixture 1.

[0054] The feeding nozzle assembly 6 is slidably mounted on the rotating plate 71 along the radial direction of the bearing, thereby enabling the rollers to be placed into the roller channel through the mounting port. The feeding nozzle assembly 6 includes a steering motor 61, a pin-insertion nozzle 62, and a feeding cylinder 63. The pin-insertion nozzle 62 is connected to an air source via an air pipe and a solenoid valve, thereby enabling the end of the pin-insertion nozzle 62 to apply negative pressure to adsorb and transfer the rollers. The pin-insertion nozzle 62 is sleeved on the motor shaft of the steering motor 61 and is fixedly connected to the motor shaft by a set bolt to achieve synchronous rotation. The steering motor 61 can drive the pin-insertion nozzle 62 to rotate the rollers, thereby causing two adjacent rollers installed in the bearing roller channel to be arranged in a cross shape. That is, a single station mechanism can achieve a cross-shaped arrangement of two adjacent rollers, simplifying the assembly mechanism and reducing costs. The cylinder body of the feeding cylinder 63 is bolted to the rotating plate 71. The telescopic rod of the feeding cylinder 63 drives the steering motor 61 to move the needle insertion nozzle 62, so that the needle insertion nozzle 62 is inserted into or retracted from the mounting port. The feeding cylinder 63 is connected to the air source through an air pipe and a solenoid valve, and its operation can be controlled by a controller. Since the needle insertion nozzle 62 needs to drive the outer ring of the bearing to rotate after being inserted into the mounting port, the needle insertion nozzle 62 is made of metal.

[0055] Reference Figures 9 to 11 The roller can be transported to the end of the needle suction nozzle 62 at a 45-degree angle via the feeding mechanism. The end of the needle suction nozzle 62 has an inclined right-angle notch 621 for positioning the roller at an angle. The inclined right-angle notch 621 is a right-angled groove at a 45-degree angle, thus adapting to the roller at a 45-degree angle. That is, the end and one outer side wall of the roller respectively fit against the two right-angled groove walls of the inclined right-angle notch 621, allowing the needle suction nozzle 62 to stably adsorb the roller in the inclined state. The roller will not fall off when the steering motor 61 rotates the corresponding roller 180 degrees, ensuring that adjacent rollers are arranged in a 180-degree staggered pattern. In another embodiment, the roller can also be placed manually into the inclined right-angle notch 621.

[0056] The roller assembly mechanism also includes an industrial control display screen that communicates with the controller. During assembly, the industrial control display screen can record the current roller assembly angle. If the roller falls off at the current angle during assembly, the industrial control display screen can automatically display (trigger) the alarm condition.

[0057] The feeding nozzle assembly 6 also includes a motor sliding base 64, a motor base 65, and a fine-tuning component 66. A third linear guide rail is bolted onto the rotating plate 71, extending radially along the bearing. A third slider slides on the third linear guide rail. The motor sliding base 64 is bolted to the third slider and moves synchronously. The extension rod of the feeding cylinder 63 is threadedly connected to the motor sliding base 64, thereby driving the motor sliding base 64 to move stably along a set direction. A fourth linear guide rail is bolted to the top of the motor sliding base 64, extending in the same direction as the sliding of the motor sliding base 64. A fourth slider slides on the fourth linear guide rail. The motor base 65 is bolted to the fourth slider, and the steering motor 61 is bolted to the motor base 65. The fine-tuning component 66 is threaded to the motor sliding base 64 and connected to the motor base 65 to fine-tune and lock the positions of the steering motor 61 and the needle nozzle 62. The feeding cylinder 63 drives the motor sliding base 64 to move the motor base 65 and the steering motor 61 synchronously.

[0058] Reference Figure 9 and Figure 10 A vertical plate extends upward from the side of the motor sliding base 64 near the feeding cylinder 63. A fine-tuning component 66 is threaded onto the vertical plate and passes through it. The fine-tuning component 66 includes a threaded sleeve 67 and a fine-tuning bolt 68. The threaded sleeve 67 is threaded onto the vertical plate and abuts against the side of the motor base 65 near the feeding cylinder 63. The fine-tuning bolt 68 is threaded into the threaded sleeve 67 and threadedly connected to the motor base 65. This design allows for locking the movement of the motor base 65 and adjusting the position of the motor base 65 by adjusting the threaded sleeve 67 and the fine-tuning bolt 68. Furthermore, the adjustment allows for fine-tuning to a length accuracy of "micrometers" to ensure that the rollers are accurately placed into the roller channel of the bearing.

[0059] Reference Figure 12 The roller assembly equipment for crossed roller bearings also includes a roller assembly positioning detection component 10 for detecting whether the installed rollers have been rotated outside the mounting opening. The roller assembly positioning detection component 10 is mounted on the lower pressure frame 23 and rises and falls synchronously with the lower pressure frame 23.

[0060] Reference Figures 10 to 13The roller assembly positioning detection assembly 10 includes a lifting base plate 101, a probe mounting plate 102, a detection probe 103, a probe cylinder 104, a linear resistor 105, and a detection lifting cylinder 106. The cylinder body of the detection cylinder is bolted to the side of the lower pressure frame 23 near the needle suction nozzle 62. The telescopic rod of the detection cylinder faces downwards, and the end of the telescopic rod has a threaded section. The top of the lifting base plate 101 is threadedly connected to the threaded section of the telescopic rod of the detection cylinder, thus enabling the detection lifting cylinder 106 to drive the lifting base plate 101 to move vertically upwards and downwards. The cylinder body of the probe cylinder 104 is bolted to the lifting base plate 101. The probe mounting plate 102 is located on the side of the lifting base plate 101 near the lower pressure block 22. The probe mounting plate 102 is fixedly connected to the telescopic rod of the probe cylinder 104, and the probe cylinder 104 drives the probe mounting plate 102 to move towards or away from the bearing radially. The probe mounting plate 102 has a through-hole on the side near the lifting base plate 101. The detection probe 103 is inserted into the through-hole, and both ends of the detection probe 103 protrude from the through-hole in a cantilevered state. The end of the detection probe 103 near the lower pressure block 22 is a tapered arc head, which can be inserted into the bearing mounting port and the roller feed channel. A set bolt is threaded on the bottom of the probe mounting plate 102. The end of the set bolt can enter the through-hole and abut against the outer wall of the detection probe 103, so that the detection probe 103 is fixed on the probe mounting plate 102 and can move synchronously with the probe mounting plate 102. The linear resistor 105 is a resistive linear displacement sensor (existing technology, featuring a telescopic sliding rod). The linear resistor 105 is bolted to the lifting base plate 101. The end of the telescopic sliding rod of the linear resistor 105 has a threaded section. This threaded section passes through the probe mounting plate 102 and is clamped and fixed to the probe mounting plate 102 by two clamping nuts. Thus, when the probe mounting plate 102 moves, it can drive the telescopic sliding rod to move synchronously, thereby detecting the resistance during the movement of the probe 103 to determine whether a roller is present at the mounting opening. The probe cylinder 104 and the detection lifting cylinder 106 are respectively connected to the air source via their respective air pipes and solenoid valves, and their telescopic operation is controlled by the controller.

[0061] Reference Figures 10 to 13During the process of probe cylinder 104 pushing probe mounting plate 102 to insert detection probe 103 into the bearing roller feed channel, probe mounting plate 102 will synchronously move the telescopic sliding rod of linear resistor 105. Linear resistor 105 outputs a resistance value, which is converted into a current signal by its internal signal transmitter. During each movement of probe mounting plate 102, the controller monitors the position signal fed back by linear resistor 105 in real time. When lifting base plate 101 rises to its highest position, both probe mounting plate 102 and detection probe 103 are higher than the bottom surface of lower pressure block 22, thus avoiding interference when the suction nozzle inserts the roller.

[0062] If the position signal smoothly reaches the value corresponding to the target position within a predetermined time, it is determined that there are no foreign objects in the mounting port and the operation is normal. Then, the detection probe 103 completely withdraws from the bearing mounting port and resets. At the same time, the controller will only control the ejector nozzle 51 to transfer the roller to the insert nozzle 62 after receiving the signal that there are no foreign objects in the mounting port, and then the roller assembly will be performed.

[0063] If the displacement signal of the detection probe 103 suddenly increases at a certain position before reaching the target position, while the probe cylinder 104 is still operating, it is determined that it has hit a foreign object (stuck). The driving force of the probe cylinder 104 is relatively small, and since the roller is cylindrical, the detection probe 103 will drive the roller to roll and make way after hitting the roller, without damaging the roller, and will not place the roller in the position directly opposite the bearing mounting hole. After the controller receives the signal that the detection probe 103 has hit the roller, and after the detection probe 103 has completely withdrawn from the bearing mounting port and reset (during this process, the needle suction nozzle 62 remains in a roller-free state), the feeding cylinder 63 drives the needle suction nozzle 62 to be re-inserted into the mounting port (at this time, because the stuck roller has rolled away due to the drive of the detection probe 103, it will not have a rigid collision with the needle suction nozzle 62, but will be further rolled away). The rotary drive 7 drives the needle suction nozzle 62 to rotate the outer ring of the bearing counterclockwise by a preset angle, while the downward rotary motor 21 drives the inner ring to rotate clockwise by a preset angle. After that, the rotary drive 7 drives the needle suction nozzle 62 to reset the outer ring of the bearing, while the inner ring of the bearing remains stationary. In this way, multiple corrective measures are carried out in coordination to ensure that the stuck roller in the mounting port can be rotated away.

[0064] The implementation principle of the roller assembly equipment for a crossed roller bearing in this application embodiment is as follows: the rollers are conveyed from the conical hopper to the inclined transfer frame by gravity through the unblocking pipe and the hose. The pushing mechanism releases only one roller at a time and keeps it in a 45-degree inclined position. Then, the ejector nozzle 51 transfers the roller to the inclined right-angle notch 621 of the insert nozzle 62 to achieve stable adsorption and keep the roller in a 45-degree inclined state. The steering motor 61 can drive the insert nozzle 62 to rotate the roller 180 degrees according to the installation sequence to ensure that the two adjacent rollers installed on the bearing are arranged in a crossed manner.

[0065] The feeding cylinder 63 drives the needle suction nozzle 62 to move the roller and insert it into the roller channel of the bearing. At the same time, the downward pressure of the rotary drive assembly 2 drives the inner ring of the bearing to rotate, and the rotary drive component 7 drives the needle suction nozzle 62 to drive the outer ring to rotate in the opposite direction. This causes the V-shaped raceway of the inner and outer rings to be misaligned at the mounting opening, forming an active avoidance structure. Then, the needle suction nozzle 62 no longer picks up the roller, but puts the roller into the roller channel of the bearing. After that, the rotary drive component 7 drives the needle suction nozzle 62 to drive the outer ring of the bearing to reset independently, while the inner ring of the bearing remains stationary. The inclined surface of the V-shaped groove of the outer ring generates sliding friction with the roller that has fallen into the raceway. This frictional force forms a unidirectional thrust along the circumference, pushing the roller further into the depth of the bearing roller channel and pressing the preceding roller. This not only eliminates the accumulated gap between the rollers, but also ensures the tightness and consistency of the roller arrangement.

[0066] After each assembly is completed, the detection probe 103 extends into the mounting port to detect displacement resistance. If the linear resistor 105 detects that the displacement signal smoothly reaches the target value, the assembly is considered successful. If the signal changes abruptly, the roller is considered stuck. In this case, the detection probe 103 will push the roller to make it roll and move out of position. Subsequently, the needle suction nozzle 62 is inserted into the mounting port again and works with the downward rotating motor 21 to drive the inner bearing outer ring to rotate differentially, forcibly removing the stuck roller and achieving closed-loop self-correction.

[0067] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. In this disclosure, unless otherwise explicitly specified and limited, "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0068] The above embodiments are merely illustrative of several implementation methods of this disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of this disclosure, and these modifications and improvements all fall within the protection scope of this disclosure.

Claims

1. A roller assembly device for crossed roller bearings, characterized in that: The assembly includes a bearing positioning fixture (1), a downward rotary drive assembly (2), a roller hopper (3), a roller tilting transfer frame (4), a transfer roller ejection assembly (5), a feeding nozzle assembly (6), and a rotary drive component (7) connected to a base. The bearing positioning fixture (1) is used to position the rollers to be installed. The downward rotary drive assembly (2) is located above the bearing positioning fixture (1) and is adapted to abut against the top surface of the bearing inner ring to drive the bearing inner ring to rotate. The roller hopper (3) is located above the roller tilting transfer frame (4). The roller tilting transfer frame (4) is provided with an inclined channel (42) that tilts the rollers. The bottom of the roller hopper (3) is provided with a roller conveying pipe (31) that communicates with the inclined channel (42) to convey the rollers into the inclined channel (42). The transfer rollers are positioned above the roller tilting transfer frame (42). The ejector assembly (5) is connected to the roller tilting transfer frame (4) to eject the rollers that are tilted in the inclined material channel (42); the feeding nozzle assembly (6) is located below the roller tilting transfer frame (4) to receive the rollers ejected by the transfer roller ejector assembly (5) and is adapted to drive the corresponding rollers to rotate so that the rollers in the tilted state are installed in the roller channel of the bearing and the adjacent two rollers are arranged in a cross pattern; the rotary drive (7) is connected to the feeding nozzle assembly (6). After the feeding nozzle assembly (6) inserts the rollers into the roller material channel, the rotary drive (7) is adapted to drive the feeding nozzle assembly (6) to drive the outer ring of the bearing to rotate by a preset angle; after the outer ring of the bearing rotates by a preset angle, the feeding nozzle assembly (6) is adapted to put the rollers into the roller material channel. The rotation direction of the outer ring of the bearing is opposite to the rotation direction of the inner ring of the bearing.

2. The roller assembly equipment for crossed roller bearings according to claim 1, characterized in that: The base is topped with a first support frame. The downward rotation drive assembly (2) includes a downward rotation motor (21), a downward block (22), a downward frame (23), and a downward cylinder (24). The bottom surface of the downward block (22) is adapted to abut against the top surface of the inner ring of the bearing. The downward rotation motor (21) is mounted on the downward frame (23) and connected to the downward block (22) to drive the downward block (22) to rotate the inner ring of the bearing. The downward frame (23) is slidably connected to the first support frame. The downward cylinder (24) is mounted on the first support frame and connected to the downward frame (23) to drive the downward frame (23) to lift the downward rotation motor (21).

3. The roller assembly equipment for crossed roller bearings according to claim 1, characterized in that: A second upright is installed on the top of the base. The roller hopper (3) and the roller tilting transfer frame (4) are both installed on the second upright. A transfer frame lifting drive (41) is installed on the top of the second upright. The transfer frame lifting drive (41) is connected to the roller tilting transfer frame (4) so ​​that the roller tilting transfer frame (4) drives the transfer roller ejection assembly (5) to move up and down relative to the feeding nozzle assembly (6).

4. The roller assembly equipment for crossed roller bearings according to claim 3, characterized in that: A metal discharge pipe (32) is slidably inserted into the bottom of the roller hopper (3). The upper end of the discharge pipe (32) is inserted into the roller hopper (3) and communicates with the inside of the roller hopper (3) so that the rollers fall into the discharge pipe (32) in a stacked state. The roller conveying pipe (31) is connected to the bottom end of the discharge pipe (32). A discharge cylinder (33) is provided on the second upright. The discharge cylinder (33) is connected to the discharge pipe (32) to drive the discharge pipe (32) to move up and down so that the rollers are not easily stuck at the opening at the top of the discharge pipe (32).

5. The roller assembly equipment for crossed roller bearings according to claim 1, characterized in that: The roller tilting transfer frame (4) has a roller top outlet (43) on the side near the feeding nozzle assembly (6). The roller top outlet (43) is connected to the tilted material channel (42). The transfer roller ejection assembly (5) is adapted to eject the roller at the roller top outlet (43). The roller tilting transfer frame (4) has a roller inlet (44) connected to the roller conveying pipe (31) on the side opposite to the roller top outlet (43). The roller inlet (44) and the roller top outlet (43) are arranged alternately. The roller tilting transfer frame (4) is equipped with a roller pushing assembly (9). The roller pushing assembly (9) is adapted to be inserted into the tilted material channel (42) and push a single roller from the roller inlet (44) to the roller top outlet (43).

6. The roller assembly equipment for crossed roller bearings according to claim 5, characterized in that: The roller pushing assembly (9) includes a pushing plate (91) and a pushing cylinder (92). The pushing plate (91) is slidably inserted into the inclined material channel (42). The pushing plate (91) has a roller positioning groove (93) that communicates with the roller feed port (44) and can accommodate one roller. The roller positioning groove (93) passes through the pushing plate (91) and is adapted to communicate with the roller top outlet (43). The pushing cylinder (92) is connected to the pushing plate (91) to drive the pushing plate (91) to reciprocate between the roller feed port (44) and the roller top outlet (43). When the pushing plate (91) drives the roller to move from the roller feed port (44) to the roller top outlet (43), the pushing plate (91) is adapted to block the roller feed port (44).

7. The roller assembly equipment for crossed roller bearings according to claim 5, characterized in that: The transfer roller ejection assembly (5) is located on the side of the roller inclined transfer frame (4) where the roller feed port (44) is opened. The transfer roller ejection assembly (5) includes a pin suction nozzle (51) and a roller ejection cylinder (52). The inclined channel (42) has a suction nozzle insertion hole on the side of the groove away from the roller top outlet (43) for the pin suction nozzle (51) to be inserted. The end of the pin suction nozzle (51) is adapted to generate negative pressure to adsorb the roller that has been moved to the roller top outlet (43). The roller ejection cylinder (52) is connected to the pin suction nozzle (51) to drive the pin suction nozzle (51) to eject the roller at the roller top outlet (43) and transfer it to the feeding suction nozzle assembly (6).

8. The roller assembly equipment for crossed roller bearings according to claim 1, characterized in that: It also includes a roller assembly positioning detection assembly (10) for detecting whether the installed roller has been rotated outside the mounting port. The roller assembly positioning detection assembly (10) is connected to the downward rotation drive assembly (2). The roller assembly positioning detection assembly (10) includes a lifting base plate (101), a probe mounting plate (102), a detection probe (103), a probe cylinder (104), a linear resistor (105), and a detection lifting cylinder (106). The detection lifting cylinder (106) is connected to the lifting base plate (101) and drives the lifting base plate (101) to rise and fall. The probe cylinder (104) and the linear resistor (105) are connected to the probe mounting plate (101). Resistors (105) are all mounted on the lifting base plate (101) and move up and down synchronously with the lifting base plate (101). The detection probe (103) is connected to the probe mounting plate (102). The probe cylinder (104) is connected to the probe mounting plate (102) to drive the probe mounting plate (102) to move the detection probe (103). The detection probe (103) is suitable for being inserted into the bearing roller channel through the mounting port. The linear resistor (105) is suitable for detecting the resistance during the movement of the detection probe (103) driven by the mounting plate to determine whether there is a roller at the mounting port.

9. The roller assembly equipment for crossed roller bearings according to any one of claims 1-8, characterized in that: The rotary drive (7) is connected to a rotating plate (71). The rotary drive (7) is adapted to drive the rotating plate (71) to rotate. The mounting port of the outer ring of the bearing faces the feeding nozzle assembly (6). The feeding nozzle assembly (6) includes a steering motor (61) mounted on the rotating plate (71) and rotating synchronously with the rotating plate (71), a pin insertion nozzle (62), and a feeding cylinder (63). The pin insertion nozzle (62) is connected to an air source. The end of the pin insertion nozzle (62) is under negative pressure. The end of the pin insertion nozzle (62) is provided with an inclined right-angle notch (621) for the inclined positioning of the roller. (62) Connected to the steering motor (61), the steering motor (61) is adapted to drive the needle suction nozzle (62) to rotate the roller so that two adjacent rollers in the roller channel can be arranged in a cross shape. The feeding cylinder (63) is adapted to drive the steering motor (61) to slide the needle suction nozzle (62) so that the needle suction nozzle (62) is inserted into the mounting port and driven by the rotary drive (7) to rotate the outer ring of the bearing by a preset angle. After the roller is installed, the rotary drive (7) drives the needle suction nozzle (62) to rotate the outer ring of the bearing to reset, while the inner ring of the bearing remains stationary.

10. The roller assembly equipment for crossed roller bearings according to claim 9, characterized in that: The feeding nozzle assembly (6) further includes a motor sliding base (64), a motor base (65), and a fine-tuning component (66). The steering motor (61) is fixedly mounted on the motor base (65), and the motor base (65) is slidably connected to the motor sliding base (64). The sliding direction of the motor base (65) is the driving direction of the feeding cylinder (63). The fine-tuning component (66) is threadedly connected to the motor sliding base (64) and connected to the motor base (65) to fine-tune and lock the positions of the steering motor (61) and the needle nozzle (62). The feeding cylinder (63) is connected to the motor sliding base (64) to drive the motor sliding base (64) to drive the motor base (65) and the steering motor (61) to move synchronously.

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