An automatic assembly device for crossed roller bearings

Abstract

The present application relates to a kind of cross roller bearing assembly equipment, especially a kind of cross roller bearing automatic assembly device, including rack, further comprising: outer ring fixing device, be set on rack, for fixing outer ring;Inner ring tensioning rotating device, be set on outer ring fixing device, for fixed inner ring, and make inner ring rotate when assembling;And first feeding device, be set on one side of outer ring fixing device;And second feeding device, be set on the other side of outer ring fixing device;First feeding device and second feeding device are sequentially loaded into the raceway of bearing from the assembly hole of outer ring fixing device two sides with spacer block and roller respectively, the roller loaded by first feeding device and second feeding device is perpendicular to each other, forms cross structure.The cross roller bearing automatic assembly device whole structure is simple, compact, and the area of land is small, it is convenient to place equipment, simultaneously, by left and right sides sequentially cross assembly, realize high-speed assembly, greatly improve assembly efficiency.

Description

Technical Field

[0001] This invention relates to a cross roller bearing assembly equipment, and more particularly to an automatic cross roller bearing assembly device. Background Technology

[0002] Crossed roller bearings are precision bearings with an internal structure as follows: Figure 21 As shown, the bearing includes an inner ring 92, an outer ring 91, rollers 94, and spacer blocks 93 for isolating the rollers 94. During assembly, the rollers 94 and spacer blocks 93 are sequentially and alternately inserted into the bearing raceway through the assembly holes 911 of the outer ring 91 at a certain cross angle (usually 90°). The outer ring 91 has assembly holes 911 radially for inserting the rollers 94 and spacer blocks 93, and locating holes 912 axially communicating with the assembly holes 911.

[0003] Currently, automated assembly equipment has been gradually applied in this field to improve assembly efficiency and quality. For example, Chinese patent application number CN2025120123303 discloses a cross roller bearing assembly machine and assembly method. This prior art mainly adopts a vertical assembly method, that is, the bearing ring in a vertical state is transferred to the assembly station by a bearing ring transfer machine, and the roller receiving transfer machine and the spacer block transfer machine are used to insert the roller and spacer block from the assembly port at the top of the bearing outer ring. With the rotation of the bearing inner ring and the overall movement of the bearing ring, the parts slide down to the bottom of the raceway under the action of gravity. Although the above-mentioned prior art solves the problem of part skew caused by gravity in horizontal assembly, the structure and control of this equipment are very complex. It uses 8 sets of linear modules, multiple sets of vacuum systems, vision cameras, and many precision moving parts. The equipment purchase cost is much higher than that of traditional manual tooling and simple semi-automatic equipment, and the investment return period is long. The four stations of roller feeding, spacer feeding, assembly and vision are laid out horizontally, the frame integrates multiple modules, the length and width are large, and it is difficult to place in small bearing workshops. Summary of the Invention

[0004] To address the above problems, this invention provides an automatic assembly device for crossed roller bearings, the specific technical solution of which is as follows: An automatic assembly device for crossed roller bearings includes a frame and further includes: an outer ring fixing device disposed on the frame for fixing the outer ring; an inner ring tensioning and rotating device disposed on the outer ring fixing device for fixing the inner ring and causing the inner ring to rotate during assembly; a first feeding device disposed on one side of the outer ring fixing device; and a second feeding device disposed on the other side of the outer ring fixing device; wherein the first feeding device and the second feeding device respectively feed spacer blocks and rollers from both sides of the outer ring fixing device into the raceway of the bearing through the assembly holes of the outer ring, and the rollers fed by the first feeding device and the second feeding device are perpendicular to each other, forming a crossed structure.

[0005] Preferably, the outer ring fixing device includes: a fixing frame disposed on the frame; a first fixing seat disposed on the fixing frame and having a first fixing groove for fixing the outer ring, an insertion groove disposed opposite to the assembly hole, and an loading and unloading groove for loading and unloading the outer ring; and a first positioning pin disposed on the first fixing seat for inserting into a positioning hole on the side of the outer ring.

[0006] Preferably, the outer ring fixing device further includes: an outer ring clamping device, disposed on the frame and opposite to the first fixing groove, the outer ring clamping device including: a clamping frame, disposed on the frame; a clamping slide plate, slidably disposed on the clamping frame; a first clamping cylinder, disposed on the clamping frame and connected to the clamping slide plate; a second clamping cylinder, disposed on the top of the clamping slide plate; a clamping seat, disposed on the clamping slide plate of the second clamping cylinder; a clamping shaft, movably inserted into the clamping seat; a clamping plate, disposed at the end of the clamping shaft; and a clamping spring, movably sleeved on the clamping shaft, with both ends abutting against the clamping seat and the clamping plate respectively.

[0007] Preferably, the inner ring tensioning rotation device includes: a rotating sleeve rotatably mounted on the fixed frame; a tensioning sleeve disposed at one end of the rotating sleeve and movably disposed within the first fixed groove, the tensioning sleeve having a tensioning column for tensioning the inner ring, the tensioning column having a plurality of tensioning grooves arranged in a ring, tensioning holes and tensioning conical holes communicating with the tensioning grooves, the tensioning holes and tensioning conical holes being coaxially arranged on the center line of the tensioning sleeve and communicating with each other; a tensioning head movably inserted into the tensioning holes and the tensioning conical holes, and having a tensioning conical head matching the tensioning conical holes; a tensioning connecting rod movably inserted into the rotating sleeve and rotatably connected to the tensioning head; a tensioning cylinder disposed on the fixed frame and connected to the tensioning connecting rod, for driving the tensioning conical head to open the tensioning column to tension the inner ring; and a rotation drive device disposed on the fixed frame and connected to the rotating sleeve, for driving the tensioning head and the tensioning sleeve to rotate through the rotating sleeve.

[0008] Preferably, the feeding device includes: a feeding linear module, mounted on the frame; a first vibratory feeder, mounted on the frame, for sequentially feeding out isolation blocks; a second vibratory feeder, mounted on the frame, for sequentially feeding out rollers; a first feeding assembly, having a first positioning groove for positioning the isolation blocks, and the first positioning groove communicating with the first feeding port of the first vibratory feeder; a second feeding assembly, located on one side of the first feeding assembly and connected to the second vibratory feeder via a pipe, for feeding out and positioning a roller; a first lifting suction assembly, mounted on the feeding slide of the feeding linear module, for adsorbing the isolation blocks; and a second lifting suction assembly, mounted on the feeding slide of the feeding linear module, for adsorbing the rollers; wherein the first lifting suction assembly and the second lifting suction assembly are used to drive the first lifting suction assembly and the second lifting suction assembly to adsorb the isolation blocks and rollers on the first feeding assembly and the second feeding assembly, and move them to the assembly station to sequentially install the isolation blocks and rollers into the crossed roller bearings.

[0009] Preferably, the first feeding assembly includes: a first feeding seat with a first positioning groove on the top; a first positioning seat disposed on one side of the first positioning groove; a first suction pipe disposed on a first suction hole on the first positioning seat, the first suction hole being disposed opposite to an isolation block on the first positioning groove so that the isolation block abuts against the first positioning seat; and a first vacuum generator connected to the first suction pipe for generating vacuum suction.

[0010] Preferably, the second feeding assembly includes: a feeding seat, disposed on a feeding frame, the feeding seat having a feeding groove and a feeding hole communicating with the feeding groove, the feeding hole being connected to the second vibrating plate through a pipe to allow the roller to enter the feeding hole; a feeding rod, slidably disposed in the feeding groove, and having a second positioning groove at the top for placing the roller, the second positioning groove being inclined relative to the horizontal plane so that the angle between the roller and the horizontal plane is 45°; and a feeding cylinder, disposed on the feeding frame and connected to the feeding rod, wherein when the piston rod of the feeding cylinder retracts, the second positioning groove communicates with the feeding hole to allow the roller to enter the second positioning groove, and when the piston rod of the feeding cylinder extends, the feeding rod drives the roller to move to the feeding position of the second lifting suction assembly.

[0011] Preferably, the first lifting and suction assembly has the same structure as the second lifting and suction assembly. The first lifting and suction assembly includes: a lifting base plate disposed on the loading slide; a lifting slide slidably disposed on the lifting base plate; a lifting cylinder disposed on the lifting base plate and connected to the lifting slide; a suction rod disposed on the lifting slide, the suction rod having a suction hole and a suction groove disposed at the end of the suction rod and communicating with the suction hole; and a suction vacuum generator connected to the suction hole via a pipe.

[0012] Preferably, the feeding device further includes: a height adjustment device connected to the feeding linear module, used to adjust the height of the first lifting suction component and the second lifting suction component; the height adjustment device includes: at least two adjusting guide rods disposed on the feeding base plate; an adjusting base plate slidably disposed on the adjusting guide rods and connected to the feeding linear module; a feeding top plate disposed on the top of the adjusting guide rods; an adjusting screw rotatably disposed on the adjusting base plate; an adjusting nut disposed on the feeding top plate and connected to the adjusting screw; and an adjusting handwheel disposed on the adjusting screw.

[0013] Furthermore, the height adjustment device further includes: a feeding base plate, slidably disposed on the adjusting guide rod and located above the feeding base plate, wherein the first vibrating plate, the second vibrating plate, the first feeding assembly, and the second feeding assembly are all disposed on the feeding base plate; a feeding screw, one end of which is disposed on the feeding base plate and the other end of which is movably inserted into the adjusting base plate; and a feeding nut, disposed on the feeding screw and located on both sides of the adjusting base plate, for adjusting the height position of the first feeding assembly and the second feeding assembly.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The automatic assembly device for crossed roller bearings provided by this invention has a simple and compact overall structure, occupies a small area, and is easy to place. At the same time, it achieves high-speed assembly by sequentially assembling the left and right sides, which greatly improves the assembly efficiency.

[0015] By setting up an outer ring fixing device and an inner ring tensioning and rotating device, the outer ring is kept stable and stationary while the inner ring rotates automatically. At the same time, a first feeding device and a second feeding device are set up on both sides, which can load the isolation blocks and rollers into the raceway synchronously or alternately from both sides of the outer ring. The mechanism of double-sided feeding combined with the inner ring rotation greatly shortens the feeding idle stroke and assembly cycle, completely replaces the inefficient manual assembly, and greatly improves the automated assembly efficiency of crossed roller bearings.

[0016] The core characteristic of crossed roller bearings lies in the fact that the two rows of rollers are arranged at 90 degrees. This application, through the reasonable arrangement of the first and second feeding devices on both sides, enables the rollers loaded on both sides to naturally form a mutually perpendicular cross structure in the raceway. From the mechanical layout, this directly ensures the orthogonal arrangement of the two rows of rollers, effectively avoiding the problems of roller angle misalignment or disordered sorting that are easily caused by traditional manual or ordinary assembly equipment, and fundamentally ensuring the assembly accuracy of the bearing.

[0017] Because the rollers can precisely and automatically form a cross-shaped arrangement, the assembled crossed roller bearings ensure high rotational stability and load-bearing capacity. This device not only reduces the difficulty and labor intensity for workers but also guarantees the consistency and reliability of product quality. Attached Figure Description

[0018] Figure 1 This is a front view of this application; Figure 2 This is a 3D view of the rack concealed in this application; Figure 3 This is a side view of the rack concealed in this application; Figure 4 It is a three-dimensional view of the assembly of the outer ring fixing device and the inner ring tensioning rotation device; Figure 5 yes Figure 4 A magnified view of a section at point I; Figure 6 yes Figure 4 A sectional view; Figure 7 It is a 3D diagram of a tensioning sleeve; Figure 8 This is a cross-sectional view of the tensioning sleeve; Figure 9 This is a three-dimensional view of the outer ring clamping device; Figure 10 This is a three-dimensional view of the first feeding device from the first perspective; Figure 11 This is a three-dimensional view of the first feeding device from a second perspective; Figure 12 This is a perspective view of the first and second feeding components from the first angle. Figure 13 This is a perspective view of the first and second feeding components from a second viewpoint. Figure 14 This is a cross-sectional view of the second feeding assembly; Figure 15 This is a three-dimensional view of the material distribution seat from the first perspective; Figure 16 This is a two-dimensional view of the material distribution seat from a second perspective; Figure 17This is a 3D view of the material distribution bar; Figure 18 It is a 3D view of the suction rod; Figure 19 This is a cross-sectional view of the suction rod; Figure 20 This is a 3D view of the height adjustment device; Figure 21 This is a 3D diagram of a crossed roller bearing. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings.

[0020] like Figures 1 to 20 As shown, an automatic assembly device for crossed roller bearings includes a frame 5, an outer ring fixing device 6, an inner ring tensioning and rotating device 7, a first feeding device 100, and a second feeding device 200. The outer ring fixing device 6 is fixed on the frame 5 and is used to fix the outer ring 91. The inner ring tensioning and rotating device 7 is fixed on the outer ring fixing device 6 and is used to fix the inner ring 92, so that the inner ring 92 rotates during assembly. The first feeding device 100 and the second feeding device 200 are both fixed on the frame and are located on both sides of the outer ring fixing device 6. The first feeding device 100 and the second feeding device 200 respectively load the spacer block 93 and the roller 94 into the raceway of the bearing through the assembly hole 911 of the outer ring 91 from both sides of the outer ring fixing device 6. The rollers 94 loaded by the first feeding device 100 and the second feeding device 200 are perpendicular to each other, forming a crossed structure.

[0021] The feeding device is located on both sides of the outer ring fixing device 6, and can alternately load the isolation block 93 and the roller 94 into the raceway through the assembly hole 911, reducing the idle stroke time of single-sided feeding and improving the feeding cycle time.

[0022] The inner ring 92 can rotate automatically during assembly. With the sequential loading of the feeding device 1, the rollers 94 and the spacer blocks 93 are continuously and automatically arranged in the circumferential raceway, which completely replaces the inefficient mode of relying on manual loading one by one and greatly improves production efficiency.

[0023] The outer ring fixing device 6 includes a fixing frame 61, a first fixing seat 62, and a first positioning pin 63. The fixing frame 61 is mounted on the frame 5 and is located in the middle of the frame 5. The first fixing seat 62 is fixed on the fixing frame 61. The end of the first fixing seat 62 is provided with a first fixing groove 621 for fixing the outer ring 91. The first fixing seat 62 is also provided with an insertion groove 622 and a loading and unloading groove 623 communicating with the first fixing groove 621. The insertion groove 622 is located directly above the first fixing groove 621 and is opposite to the first positioning pin 63. The loading and unloading grooves 623 are symmetrically arranged on both sides of the first fixing groove 621 to facilitate gripping the two sides of the outer ring 91 of the bearing, thereby facilitating the insertion and removal of the outer ring 91. The first positioning pin 63 is fixed to the bottom of the first fixing groove 621 and is arranged opposite to the assembly hole 911. It is used to insert into the positioning hole 912 of the outer ring 91, so that the assembly hole 911 on the outer ring 91 is in a vertical state, which makes it convenient for the feeding device 1 to install the isolation block 93 and the roller 94, and at the same time prevents the outer ring 91 from rotating.

[0024] To facilitate the installation and removal of the outer ring 91 within the first fixing groove 621, the diameter of the first fixing groove 621 is slightly larger than the outer diameter of the outer ring 91. To prevent the outer ring 91 from detaching from the first fixing groove 621 during assembly, the outer ring fixing device 6 also includes an outer ring clamping device 64. The outer ring clamping device 64 is fixed on the frame 5 and is positioned opposite to the first fixing groove 621. The outer ring clamping device 64 includes a clamping frame 641, a clamping slide plate 642, a first clamping cylinder 643, a second clamping cylinder 644, a clamping seat 645, a clamping shaft 646, a clamping disc 647, and a clamping spring. The clamping frame 641 is fixed on the frame 5. The clamping slide plate 642 is slidably mounted on the clamping frame 641 via a linear guide pair. The first clamping cylinder 643 is fixed to the bottom of the clamping frame 641. The piston rod of the first clamping cylinder 643 is connected to the clamping slide plate 642 and is used to drive the clamping slide plate 642 to rise and fall vertically. The second clamping cylinder 644 is a slide cylinder, fixed to the top of the clamping slide plate 642 and horizontally positioned. The clamping slide of the second clamping cylinder 644 is connected to the clamping seat 645, which is movably connected to the clamping shaft 646. The clamping shaft 646 can be mounted on the clamping seat 645 via a linear bearing. The clamping shaft 646 is horizontally positioned and reciprocates in the horizontal direction. The clamping plate 647 is fixed to one end of the clamping shaft 646 and is positioned opposite to the first fixing groove 621. It is used to press against the outer ring 91, clamping the outer ring 91 within the first fixing groove 621. A limiting plate is installed at the other end of the clamping shaft 646. The limiting plate can abut against the clamping seat 645 to prevent the clamping shaft 646 from separating from the clamping seat 645. The clamping spring is movably sleeved on the clamping shaft 646. The two ends of the clamping spring are connected to the clamping seat 645 and the clamping plate 647 respectively. The clamping spring uses its elastic force to press the clamping plate 647 against the outer ring 91, which can protect the outer ring 91 and avoid the impact force generated by directly pressing the outer ring 91 against it by the cylinder, thus achieving flexible clamping. The clamping plate 647 has a clamping hole 648 in the center, so that the end of the clamping plate 647 forms a ring, which can avoid interference with the inner ring 92 and the inner ring tensioning rotation device 7, and does not affect the rotation of the inner ring 92. The first clamping cylinder 643 can also be a multi-axis cylinder.

[0025] The inner ring tensioning rotation device 7 includes a rotating sleeve 71, a tensioning sleeve 72, a tensioning head 73, a tensioning connecting rod 74, a tensioning cylinder 75, and a rotation drive device 76. The rotating sleeve 71 is rotatably mounted on the fixed frame 61 via bearings and is horizontally positioned. The tensioning sleeve 72 is fixed to one end of the rotating sleeve 71 and is also movably inserted into the first fixed groove 621. The tensioning sleeve 72 is provided with a tensioning post 721 for tensioning the inner ring 92. The center of the tensioning post 721 is provided with a tensioning hole 724 and a tensioning conical hole 723. The tensioning conical hole 723 is located at the end of the tensioning post 721 and communicates with the tensioning hole 724. The outer circular surface of the tensioning post 721 is provided with a plurality of tensioning grooves 722 arranged in a ring array. The tensioning grooves 722 communicate with the tensioning conical hole 723 and the tensioning hole 724, so that the tensioning post 721 can increase its diameter along the circumference and fix the inner ring 92 from the inside. The tensioning head 73 is movably inserted into the tensioning hole 724 and the tensioning cone hole 723. The end of the tensioning head 73 is provided with a tensioning cone head 731 that matches the tensioning cone hole 723. The tensioning connecting rod 74 is movably inserted into the rotating sleeve 71 and is rotatably connected to the tensioning head 73. The center of the tensioning head 73 is provided with a stepped hole 732. The stepped hole 732 is connected to the end of the tensioning connecting rod 74 through a rotating screw. The nut of the rotating screw is movably abutted against the shoulder of the stepped hole 732 to achieve axial positioning. The rotating screw is a three-section stepped shaft, including a nut with a diameter decreasing sequentially, a rotating shaft, and a threaded rod. The nut is movably inserted into the large hole of the stepped hole 732, the rotating shaft is movably inserted into the small hole of the stepped hole 732, and the threaded rod is connected to the tensioning connecting rod 74. The rotating shaft and the nut allow the tensioning head 73 to rotate, while the tensioning connecting rod 74 does not rotate. Tensioning cylinder 75 is fixed on fixed frame 61 and is horizontally arranged. The piston rod of tensioning cylinder 75 is connected to tensioning connecting rod 74, which drives tensioning cone head 731 to open tensioning column 721 to tension inner ring 92. Rotary drive device 76 is mounted on fixed frame 61 and connected to rotating sleeve 71, which drives tensioning head 73 and tensioning sleeve 72 to rotate through rotating sleeve 71. Specifically, rotary drive device 76 includes motor 761, drive pulley 762, driven pulley 763 and synchronous belt. Motor 761 is fixed on fixed frame 61 and located below rotating sleeve 71. Motor 761 is connected to drive pulley 762. Driven pulley 763 is fixed on rotating sleeve 71 and connected to drive pulley 762 through synchronous belt. The motor 761 drives the rotating sleeve 71 to rotate via belt drive. The rotating sleeve 71 drives the tensioning sleeve 72 to rotate, which causes the inner ring 92 of the bearing to rotate. The inner ring 92 of the bearing drives the roller 94 and the spacer block 93 to move in the raceway, so that the spacer block 93 and the roller 94 can be sequentially filled into the raceway.

[0026] The tensioning column 721 is evenly expanded outward using the principle of a conical surface, possessing a self-centering function to ensure that the inner ring 92 is evenly tensioned and is coaxial with the outer ring 91. The rotary drive device 76 drives the rotating sleeve 71 and the tensioning sleeve 72 to rotate, while the tensioning action is performed linearly along the centerline via the tensioning connecting rod 74 and the tensioning cylinder 75. The tensioning head 73 is rotatably connected to the tensioning connecting rod 74, allowing the linear tensioning action and the circumferential rotation action to be performed independently without interference, achieving a synergistic effect of simultaneous tensioning and stable rotation.

[0027] The first feeding device 100 includes a feeding linear module 13, a first vibratory plate 11, a second vibratory plate 12, a first feeding assembly 21, a second feeding assembly 22, a first lifting and suction assembly 31, and a second lifting and suction assembly 32. The feeding linear module 13 is equipped with a feeding slide 131, which reciprocates along the length of the feeding linear module 13. The first vibratory plate 11 is used for sequential feeding of the isolation blocks 93, and the second vibratory plate 12 is used for sequential feeding of the rollers 94. The first vibratory plate 11 and the second vibratory plate 12 are located on opposite sides of the feeding linear module 13, and the first vibratory plate 11 is also located on one side of the first feeding assembly 21. The first feeding assembly 21 is equipped with a first positioning groove 213 for positioning the isolation blocks 93, and the first positioning groove 213 communicates with the first feeding port of the first vibratory plate 11. After the isolation blocks 93 are fed out from the first feeding port of the first vibratory plate 11, they directly enter the first positioning groove 213. The second feeding component 22 is installed on one side of the first feeding component 21 and is connected to the second vibratory plate 12 through a pipe. It is used to feed out and position a roller 94. The first lifting suction component 31 and the second lifting suction component 32 are both fixed on the feeding slide 131 of the feeding linear module 13 and are arranged side by side. They are used to adsorb the isolation block 93 and the roller 94 respectively. The first lifting suction component 31 and the second lifting suction component 32 are used to drive the first lifting suction component 31 and the second lifting suction component 32 to adsorb the isolation block 93 and the roller 94 on the first feeding component 21 and the second feeding component 22, and move them to the assembly station to install the isolation block 93 and the roller 94 into the crossed roller bearing in sequence.

[0028] like Figures 10 to 20 As shown, the structure of the first feeding device 100 is basically the same as that of the second feeding device 200, except that the installation direction of the second feeding component 22 is different, so that the rollers on the second feeding device 200 are perpendicular to the rollers on the first feeding device 100, forming a cross structure, so that there is no need to adjust the angle of the rollers when loading them into the raceway.

[0029] By replacing manual feeding with a vibratory feeder, linear module, and lifting suction assembly, the automatic gripping and assembly of the isolation block 93 and roller 94 is achieved, resulting in a high degree of automation and reduced labor costs.

[0030] The system is equipped with a first feeding component 21 for feeding the isolation block 93 and a second feeding component 22 for feeding the roller 94. Together with two independent lifting and suction components, the two components can be fed alternately or in combination, which improves the assembly cycle, enables parallel feeding of two lines, and achieves high feeding efficiency.

[0031] Positioned by the first feeding component 21 and the second feeding component 22, and then precisely picked up and moved to the assembly station by the lifting suction component, the isolation block 93 and the roller 94 are accurately installed into the assembly hole 911 of the crossed roller bearing, ensuring accurate positioning and stable assembly quality.

[0032] The feeding linear module 13 is mounted on the feeding base plate 10, which is fixed to the frame. The first vibrating plate 11 and the second vibrating plate 12 are both fixed on the feeding base plate 10. The feeding base plate 10 is also equipped with a material distribution frame 23, which is located below the feeding linear module 13. The first feeding component 21 and the second feeding component 22 are respectively mounted on both sides of the material distribution frame 23.

[0033] Specifically, the first feeding assembly 21 includes a first feeding seat 211 and a first positioning seat 212. The top of the first feeding seat 211 is provided with a first positioning groove 213, the shape of which matches the shape of the isolation block 93, for accommodating and positioning the isolation block 93. The first positioning seat 212 is fixed to one end of the first feeding seat 211 and located on one side of the first positioning groove 213, for lateral positioning of the isolation block 93. The first positioning seat 212 is fixed to one side of the distribution rack 23. The first positioning seat 212 and the first feeding seat 211 can also be fixed to one side of the distribution rack 23 via a first connecting seat 216, which facilitates adjustment of the positions of the first positioning seat 212 and the first feeding seat 211. The first positioning groove 213 on the top of the first feeding seat 211 provides a definite physical limit for the isolation block 93, and, in conjunction with the first positioning seat 212 on the side, prevents the isolation block 93 from shifting during feeding, providing a stable foundation for subsequent gripping. The structure is simple and the positioning is reliable. Furthermore, the first feeding assembly 21 also includes a first suction pipe and a first vacuum generator. A first suction hole 214 is provided on the first positioning seat 212, and the first suction hole 214 is positioned opposite to the isolation block 93 on the first positioning groove 213. The first suction pipe is fixed to the first positioning seat 212 and communicates with the first suction hole 214. The first vacuum generator is connected to the first suction pipe via an air pipe. When the isolation block 93 enters the first positioning groove 213, the first vacuum generator generates a vacuum suction force, which adsorbs the isolation block 93 against the first positioning seat 212 through the first suction pipe and the first suction hole 214, thereby maintaining a stable posture and position of the isolation block 93 at the feeding station, ensuring that the first lifting feeding assembly 31 can accurately absorb it each time. A vacuum adsorption function is added to the first positioning groove 213. When the isolation block 93 reaches the positioning groove, the vacuum suction force firmly adsorbs it onto the first positioning seat 212, preventing displacement even under slight external vibrations, ensuring accurate feeding by the feeding assembly, achieving double fixation, and preventing displacement.

[0034] The second feeding assembly 22 is located on one side of the feeding linear module 13 and is connected to the second vibratory feeder 12 via a pipe. It is used to feed and position a roller 94. Specifically, the second feeding assembly 22 includes a distributing seat 221, a distributing rod 222, and a distributing cylinder 223. The distributing seat 221 is fixed to the other side of the distributing frame 23. The distributing seat 221 is provided with a distributing groove 224 and a distributing hole 225. The distributing hole 225 communicates with the distributing groove 224 and is connected to the second discharge port of the second vibratory feeder 12 via an air pipe. The roller 94 slides from the second vibratory feeder 12 into the distributing hole 225 through the air pipe. The air pipe is also connected to an air blowing pipe. By blowing air, the roller 94 is moved within the air pipe, preventing the roller 94 from getting stuck in the air pipe due to friction. The material distribution groove 224 is inclined at 45° relative to the horizontal plane, and the material distribution hole 225 is perpendicular to the material distribution groove 224, that is, the material distribution hole 225 is set at 45° relative to the horizontal plane. The material distribution rod 222 is slidably inserted into the material distribution groove 224, and the top of the material distribution rod 222 is provided with a second positioning groove 226 for placing the roller 94. The second positioning groove 226 is inclined at 45° relative to the horizontal plane so that the angle between the roller 94 and the horizontal plane after entering the second positioning groove 226 is 45°, which is completely consistent with the actual installation angle of the roller 94 in the crossed roller bearing; the second positioning groove 226 is mainly a U-shaped groove. The material distribution cylinder 223 is fixed on the material distribution frame 23, and the piston rod end of the material distribution cylinder 223 is connected to the material distribution rod 222. When the piston rod of the dispensing cylinder 223 retracts, the second positioning groove 226 communicates with the dispensing hole 225 and is coaxially aligned. The roller 94 falls from the dispensing hole 225 into the second positioning groove 226. When the piston rod of the dispensing cylinder 223 extends, the dispensing rod 222 drives the roller 94 to slide along the dispensing groove 224 to the suction position of the second lifting suction assembly 32, waiting for the second lifting suction assembly 32 to pick up the material. During operation, the piston rod of the dispensing cylinder 223 retracts, the second positioning groove 226 aligns with the dispensing hole 225, and the roller 94 falls into the groove. Then, the dispensing cylinder 223 extends, pushing the dispensing rod 222 with the roller 94 directly below the second lifting suction assembly 32, i.e., the suction position. At this time, the roller 94 is already naturally tilted at a 45-degree angle, requiring no additional angle adjustment.

[0035] The second positioning groove 226 is set at a 45° angle relative to the horizontal plane, which can meet the special angle requirements of cross assembly, so that the roller 94 is pre-set with the installation angle required for the cross roller bearing during feeding. This means that the suction assembly can directly pick up and install without complicated secondary rotation adjustment, simplifying the operation process. The material distribution cylinder 223 drives the material distribution rod 222 to reciprocate, allowing only one roller 94 to enter the second positioning groove 226 from the material distribution hole 225 and be sent to the suction station at a time, effectively avoiding the stacking or blockage of rollers 94, ensuring the continuity and stability of material feeding, realizing single material distribution, and preventing material jamming.

[0036] The first lifting and suction assembly 31 has the same structure as the second lifting and suction assembly 32. The first lifting and suction assembly 31 includes a lifting base plate 311, a lifting slide 312, a lifting cylinder 313, a suction rod 314, and a suction vacuum generator. The lifting base plate 311 is fixed on the loading slide 131. The lifting slide 312 is slidably mounted on the lifting base plate 311 via a linear guide pair. The lifting slide 312 moves up and down in the vertical direction. The lifting cylinder 313 is fixed to the top of the lifting base plate 311. The piston rod of the lifting cylinder 313 is connected to the top of the lifting slide 312. The lifting cylinder 313 drives the lifting slide 312 to slide up and down in the vertical direction on the lifting base plate 311. The suction rod 314 is fixed to the bottom of the lifting slide 312. The suction rod 314 is provided with a suction hole 315 and a suction groove 316 located at the end of the suction rod 314 and communicating with the suction hole 315. The shape of the suction groove 316 matches the shape of the separator block 93 and roller 94 to be adsorbed, thereby increasing the adsorption contact area and improving adsorption stability. A suction vacuum generator is connected to the suction hole 315 via a pipe to generate vacuum suction. Using vacuum suction instead of mechanical grippers avoids scratches or indentations on the precision roller 94 and separator block 93 surfaces, achieving flexible gripping and protecting the workpiece. The suction rod 314 can be made of engineering plastic or copper. The lifting cylinder 313 provides vertical movement, and the feeding linear module 13 provides horizontal left-right movement. Together with the flexible suction rod 314, it can accurately complete the transfer from the feeding position to the assembly position.

[0037] The first lifting and suction assembly 31 also includes a suction adjustment seat 317 and an adjusting screw. The suction adjustment seat 317 is fixed to the bottom of the lifting base plate 311. The suction adjustment seat 317 has an adjusting hole for fixing the suction rod 314, and the adjusting hole is vertically arranged. The suction rod 314 passes through the adjusting hole, and the adjusting screw is installed in the suction adjustment seat 317 through a threaded hole. The adjusting screw is also opposite to the adjusting hole so that the end of the adjusting screw presses against the suction rod 314, thereby fixing the suction rod 314. The height of the suction rod 314 is adjusted to accommodate different sizes of isolation blocks 93 or rollers 94. The design of the suction adjustment seat 317 and the adjusting screw allows the operator to fine-tune the height of the suction rod 314. This can compensate for machining errors or wear, ensure perfect contact between the suction nozzle and the workpiece surface, ensure stable suction force, and ensure the accuracy of subsequent insertion of the roller 94 and isolation block 93 into the mounting hole 911 of the crossed roller bearing.

[0038] When the first lifting and suction assembly 31 and the second lifting and suction assembly 32 are working, the loading slide 131 of the loading linear module 13 drives the two sets of suction assemblies to move above the corresponding feeding assembly. The lifting cylinder 313 drives the lifting slide 312 to descend, so that the suction groove 316 at the end of the suction rod 314 contacts the isolation block 93 and the roller 94. The suction vacuum generator generates a vacuum suction force to adsorb the workpiece. Then the lifting cylinder 313 drives the lifting slide 312 to rise, and the loading slide 131 drives the suction assembly to move to the assembly station, where the isolation block 93 and the roller 94 are installed into the crossed roller bearing in sequence.

[0039] The structure of the first feeding device 100 is basically the same as that of the second feeding device 200, except that the installation direction of the second feeding component 22 is different, so that the rollers on the second feeding device 200 are perpendicular to the rollers on the first feeding device 100, forming a cross structure, so that there is no need to adjust the angle of the rollers when loading them into the raceway.

[0040] The automatic feeding device also includes a height adjustment device 41, which is connected to the feeding linear module 13 and used to adjust the height of the first lifting suction component 31 and the second lifting suction component 32. The presence of the height adjustment device 41 allows for overall height adjustment of the entire feeding mechanism, enabling the device to adapt to cross roller bearings of different heights or different assembly line heights, thus expanding the applicability of the equipment. Specifically, the height adjustment device 41 includes an adjustment guide rod 411, an adjustment base plate 412, a feeding top plate 413, an adjustment screw 414, an adjustment nut 415, and an adjustment handwheel 416. Four adjustment guide rods 411 are arranged in an array. The adjustment guide rods 411 are round guide rods, with their bottoms fixed to the feeding base plate 10. The feeding top plate 413 is fixed to the top of the adjustment guide rods 411. The adjustment base plate 412 is slidably inserted into the adjustment guide rods 411 via linear bearings and is connected to the feeding linear module 13. The bottom of the adjusting screw 414 is rotatably mounted on the adjusting base plate 412 via the adjusting bearing seat 417. The adjusting nut 415 is fixed on the feeding top plate 413 and connected to the adjusting screw 414. The adjusting handwheel 416 is fixed on the top of the adjusting screw 414. When the operator rotates the adjusting handwheel 416, the adjusting screw 414 rotates, causing the adjusting base plate 412 to slide up and down along the adjusting guide rod 411. The feeding linear module 13 is fixedly mounted on the adjusting base plate 412, so the height of the feeding linear module 13 and its first lifting suction assembly 31 and second lifting suction assembly 32 are also adjusted accordingly. This allows the overall height of the first lifting suction assembly 31 and second lifting suction assembly 32 mounted on the adjusting base plate 412 to be precisely adjusted, thereby adapting to the assembly depth requirements of different specifications of crossed roller bearings and ensuring that the suction rod 314 can accurately place the workpiece in the predetermined position within the bearing. The height adjustment device employs a mechanical adjustment method using a handwheel and screw, resulting in a simple and reliable structure. Operators can easily adjust the height without the need for complex tools, significantly reducing the labor intensity of equipment debugging and maintenance. Furthermore, the height adjustment device 41 also includes a feeding base plate 421, a feeding screw 422, and feeding nuts. The feeding base plate 421 is slidably mounted on the adjusting guide rod 411 via a linear bearing and is located above the loading base plate 10. The first vibrating disc 11, the second vibrating disc 12, the first feeding assembly 21, and the second feeding assembly 22 are all mounted on the feeding base plate 421. The bottom of the feeding screw 422 is fixed to the feeding base plate 421, while the other end is movably inserted into the adjusting base plate 412. Two feeding nuts are provided, both mounted on the feeding screw 422 and located on opposite sides of the adjusting base plate 412. By turning the feeding nut, the position of the feeding base plate 421 relative to the adjusting base plate 412 can be adjusted, thereby adjusting the height of the first feeding component 21 and the second feeding component 22 to match the height of the first lifting suction component 31 and the second lifting suction component 32.One of the two feed nuts is used to adjust the height, and the other is used to lock the position of the feed base plate 421.

[0041] If the assembly height or feeding height is mismatched due to changes in bearing specifications, the operator can adjust the overall height of the first lifting and suction assembly 31 and the second lifting and suction assembly 32 by rotating the adjusting handwheel 416, or adjust the height of the first feeding assembly 21 and the second feeding assembly 22 independently by adjusting the feeding nut on the feeding screw 422, thereby achieving rapid production changeover and precise assembly.

[0042] Working principle: Initial preparation and outer ring 91 fixed: First, the outer ring 91 of the crossed roller bearing is placed in the first fixed groove 621 through the loading and unloading groove 623 on the first fixed seat 62, and the positioning hole 912 on the outer ring 91 is inserted into the first positioning pin 63 to limit the outer ring 91 radially and circumferentially. At the same time, the assembly hole 911 on the outer ring 91 is accurately aligned with the insertion groove 622 on the first fixed seat 62 to provide a channel for subsequent loading.

[0043] Inner ring 92 placement and tensioning fixation The bearing inner ring 92 is placed on the tensioning sleeve 72 of the inner ring tensioning rotation device 7. Then the tensioning cylinder 75 is activated. The tensioning cylinder 75 pulls the tensioning head 73 along the center line of the tensioning sleeve 72 through the tensioning connecting rod 74. The tensioning cone 731 on the tensioning head 73 gradually wedges into the tensioning cone hole 723. Using the principle of cone surface mating, the tensioning column 721 with tensioning groove 722 is forced to expand outward evenly, thereby firmly tensioning and fixing the inner ring 92, and achieving precise self-centering of the inner ring 92.

[0044] Then, the outer ring clamping device 64 is activated. The first clamping cylinder 643 drives the second clamping cylinder 644 to rise, so that the clamping plate 647 is positioned opposite to the outer ring 91. Then the second clamping cylinder drives the clamping plate 647 to press against the outer ring 91.

[0045] During the feeding stage, adsorption occurs simultaneously: The first vibrating plate 11 feeds the isolation blocks 93 sequentially from the first feeding port into the first positioning groove 213 of the first feeding assembly 21. The first vacuum generator uses the first suction pipe and the first suction hole 214 to adsorb and position the isolation blocks 93 on the first positioning seat 212. At the same time, the second vibrating plate 12 feeds the rollers 94 into the distribution hole 225 of the second feeding assembly 22 through the pipe. The piston rod of the distribution cylinder 223 retracts, so that the second positioning groove 226 of the distribution rod 222 communicates with the distribution hole 225. The rollers 94 fall into the second positioning groove 226. The 45° inclination of the second positioning groove 226 keeps the rollers 94 at a 45° angle with the horizontal plane. Then the piston rod of the distribution cylinder 223 extends, and the distribution rod 222 drives the rollers 94 to move to the suction station.

[0046] Subsequently, the feeding linear module 13 is activated, driving the first lifting suction component 31 and the second lifting suction component 32 to move horizontally, so that they are accurately aligned with the isolation block 93 on the first feeding component 21 and the roller 94 on the second feeding component 22, respectively. Next, the lifting cylinders 313 of the first lifting suction component 31 and the second lifting suction component 32 descend, and the suction grooves 316 at the bottom of the suction rod 314 respectively come into contact with the isolation block 93 and the roller 94. The vacuum system is activated, and the two suction components simultaneously generate vacuum suction, firmly adhering to the isolation block 93 and the roller 94. Then, the two lifting cylinders 313 rise simultaneously, completing the simultaneous material picking action.

[0047] During the assembly stage, the following are loaded sequentially: After the material is picked up, the feeding linear module 13 of the first feeding device 100 located on the left side of the frame 5 drives the first lifting suction component 31 and the second lifting suction component 32 to move to the vicinity of the assembly station.

[0048] First, the feeding linear module 13 moves, positioning the first lifting suction assembly 31, which holds the isolation block 93, directly above the bearing assembly position. The lifting cylinder 313 of the first lifting suction assembly 31 descends, transporting the isolation block 93 to the predetermined position. The vacuum generator breaks the vacuum, releasing the isolation block 93 so that it enters the bearing raceway through the assembly hole 911. Subsequently, the lifting cylinder 313 resets.

[0049] After the first isolation block is installed in the raceway, the rotary drive device 76 is activated, driving the rotating sleeve 71, the tensioning sleeve 72, and the tensioned inner ring 92 to rotate synchronously by a set angle. At this time, the outer ring 91 remains stationary under the action of the first positioning pin 63 and the outer ring clamping device 64, and a new assembly position is available in the raceway.

[0050] Next, the feeding linear module 13 of the first feeding device (100) moves again, positioning the second lifting suction assembly 32, which holds the roller 94, directly above the bearing assembly position. Since the roller 94 was already at a 45-degree angle during feeding, the second lifting suction assembly 32 directly transports the roller 94, which maintains this angle, to the assembly position. The lifting cylinder 313 descends, the vacuum generator breaks the vacuum, releasing the roller 94, which then falls into the predetermined position of the bearing raceway at the correct cross angle.

[0051] The first feeding device 100 is reset and re-adsorbs the isolation block 93 and the rotor 94.

[0052] The second feeding device 200, located on the right side of the frame 5, is started and loads the isolation block 93 and rotor 94 in the same way as the first feeding device 100. Then it is reset and re-adsorbs the isolation block 93 and rotor 94.

[0053] The first feeding device 100 and the second feeding device 200 alternately feed and assemble materials to achieve continuous assembly. The devices cycle through the above actions, alternately assembling the spacer block 93 and the roller 94 until the entire crossed roller bearing is assembled. The inner ring of the bearing rotates, causing the roller 94 and the spacer block 93 to be inserted sequentially.

[0054] After the separator blocks 93 and rollers 94 in the entire raceway are filled, the outer ring clamping device 64 resets, and the rotary drive device 76 stops working. The tensioning cylinder 75 reverses its action, driving the tensioning head 73 out of the tensioning cone hole 723 through the tensioning connecting rod 74. The tensioning column 721 retracts and resets under its own elastic force, releasing the inner ring 92 and removing the assembled crossed roller bearing from the loading and unloading slot 623, thus entering the next working cycle.

[0055] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the claims of the present invention.

Claims

1. An automatic assembly device for crossed roller bearings, comprising a frame (5), characterized in that, Also includes: An outer ring fixing device (6) is provided on the frame (5) for fixing the outer ring (91). An inner ring tensioning rotation device (7), provided on the outer ring fixing device (6), is used to fix the inner ring (92) and allow the inner ring (92) to rotate during assembly; and The first feeding device (100) is located on one side of the outer ring fixing device (6); The second feeding device (200) is located on the other side of the outer ring fixing device (6); The first feeding device (100) and the second feeding device (200) respectively load the isolation block (93) and the roller (94) into the raceway of the bearing through the assembly hole (911) of the outer ring (91) from both sides of the outer ring fixing device (6). The roller (94) loaded by the first feeding device (100) and the second feeding device (200) are perpendicular to each other, forming a cross structure.

2. The automatic assembly device for crossed roller bearings according to claim 1, characterized in that, The outer ring fixing device (6) includes: A mounting bracket (61) is provided on the frame (5); A first fixing seat (62) is provided on the fixing frame (61) and has a first fixing groove (621) for fixing the outer ring (91), an insertion groove (622) opposite to the assembly hole (911), and an loading and unloading groove (623) for loading and unloading the outer ring (91); and The first positioning pin (63) is located on the first fixing seat (62) and is used to insert into the positioning hole (912) on the side of the outer ring (91).

3. The automatic assembly device for crossed roller bearings according to claim 2, characterized in that, The outer ring fixing device (6) further includes: an outer ring pressing device (64), which is disposed on the frame (5) and is opposite to the first fixing groove (621). The outer ring pressing device (64) includes: A clamping frame (641) is provided on the frame (5); The pressing slide plate (642) is slidably disposed on the pressing frame (641); The first clamping cylinder (643) is mounted on the clamping frame (641) and connected to the clamping slide plate (642); The second clamping cylinder (644) is located on top of the clamping slide plate (642); A clamping seat (645) is provided on the clamping slide of the second clamping cylinder (644); The clamping shaft (646) is movably inserted into the clamping seat (645); A clamping disc (647) is disposed at the end of the clamping shaft (646); and The compression spring is movably sleeved on the compression shaft (646), and its two ends abut against the compression seat (645) and the compression plate (647) respectively.

4. The automatic assembly device for crossed roller bearings according to claim 2, characterized in that, The inner ring tensioning rotation device (7) includes: Rotating sleeve (71) is rotatably mounted on the fixed frame (61); A tensioning sleeve (72) is provided at one end of the rotating sleeve (71) and is movably disposed in the first fixed groove (621). The tensioning sleeve (72) is provided with a tensioning post (721) for tensioning the inner ring (92). The tensioning post (721) is provided with a plurality of tensioning grooves (722), tensioning holes (724) communicating with the tensioning grooves (722), and tensioning conical holes (723). The tensioning holes (724) and tensioning conical holes (723) are coaxially arranged on the center line of the tensioning sleeve (72) and are connected to each other. The tensioning head (73) is movably inserted into the tensioning hole (724) and the tensioning cone hole (723), and is provided with a tensioning cone head (731) that matches the tensioning cone hole (723). The tensioning link (74) is movably inserted into the rotating sleeve (71) and rotatably connected to the tensioning head (73); A tensioning cylinder (75), mounted on the fixed frame (61) and connected to the tensioning connecting rod (74), is used to drive the tensioning cone (731) to open the tensioning column (721) to tension the inner ring (92); and A rotary drive device (76) is provided on the fixed frame (61) and connected to the rotating sleeve (71) for driving the tension head (73) and the tension sleeve (72) to rotate through the rotating sleeve (71).

5. An automatic assembly device for crossed roller bearings according to any one of claims 1 to 4, characterized in that, The first feeding device (100) includes: The feeding linear module (13) is mounted on the frame (5); The first vibratory plate (11) is mounted on the frame (5) and is used to sequentially feed out the isolation blocks (93). The second vibratory plate (12) is mounted on the frame (5) and is used to sequentially feed out rollers (94). The first feeding assembly (21) is provided with a first positioning groove (213) for positioning the isolation block (93), and the first positioning groove (213) is connected to the first feeding port of the first vibrating plate (11); The second feeding assembly (22) is located on one side of the first feeding assembly (21) and is connected to the second vibratory plate (12) through a pipe, for feeding out and positioning a roller (94). The first lifting and suction assembly (31) is located on the loading slide (131) of the loading linear module (13); The second lifting and suction assembly (32) is located on the loading slide (131) of the loading linear module (13); The first lifting suction component (31) and the second lifting suction component (32) are used to drive the first lifting suction component (31) and the second lifting suction component (32) to adsorb the isolation block (93) and roller (94) on the first feeding component (21) and the second feeding component (22), and move to the assembly station to install the isolation block (93) and roller (94) into the crossed roller bearing in sequence.

6. The automatic assembly device for crossed roller bearings according to claim 5, characterized in that, The first feeding assembly (21) includes: The first feeding seat (211) has a first positioning groove (213) on the top. The first positioning seat (212) is located on one side of the first positioning groove (213); A first suction pipe is disposed on a first suction hole (214) on the first positioning seat (212). The first suction hole (214) is disposed opposite to the isolation block (93) on the first positioning groove (213), so that the isolation block (93) abuts against the first positioning seat (212); and A first vacuum generator is connected to the first suction pipe and is used to generate vacuum suction.

7. The automatic assembly device for crossed roller bearings according to claim 5, characterized in that, The second feeding assembly (22) includes: The material distribution seat (221) is provided on the material distribution frame (23). The material distribution seat (221) is provided with a material distribution groove (224) and a material distribution hole (225) communicating with the material distribution groove (224). The material distribution hole (225) is connected to the second vibrating plate (12) through a pipe so that the roller (94) enters the material distribution hole (225). The material distribution rod (222) is slidably disposed within the material distribution groove (224), and its top is provided with a second positioning groove (226) for placing the roller (94). The second positioning groove (226) is inclined relative to the horizontal plane so that the angle between the roller (94) and the horizontal plane is 45°. The material dispensing cylinder (223) is located on the material dispensing frame (23) and connected to the material dispensing rod (222). When the piston rod of the material dispensing cylinder (223) retracts, the second positioning groove (226) communicates with the material dispensing hole (225) so that the roller (94) enters the second positioning groove (226). When the piston rod of the material dispensing cylinder (223) extends, the material dispensing rod (222) drives the roller (94) to move to the suction position of the second lifting suction assembly (32).

8. The automatic assembly device for crossed roller bearings according to claim 5, characterized in that, The first lifting and suction assembly (31) has the same structure as the second lifting and suction assembly (32), and the first lifting and suction assembly (31) includes: A lifting base plate (311) is provided on the loading slide (131); The lifting slide (312) is slidably mounted on the lifting base plate (311); A lifting cylinder (313) is mounted on the lifting base plate (311) and connected to the lifting slide (312); A suction rod (314) is mounted on the lifting slide (312). The suction rod (314) has a suction hole (315) and a suction groove (316) located at the end of the suction rod (314) and communicating with the suction hole (315). The suction vacuum generator is connected to the suction port (315) via a pipe.

9. The automatic assembly device for crossed roller bearings according to claim 5, characterized in that, The first feeding device (100) further includes: a height adjustment device (41), connected to the feeding linear module (13), used to adjust the height of the first lifting suction assembly (31) and the second lifting suction assembly (32); the height adjustment device (41) includes: At least two adjusting guide rods (411) are provided on the feeding base plate (10); The adjusting base plate (412) is slidably mounted on the adjusting guide rod (411) and connected to the feeding linear module (13); The feeding top plate (413) is located on top of the adjusting guide rod (411); The adjusting screw (414) is rotatably mounted on the adjusting base plate (412); An adjusting nut (415) is disposed on the feeding top plate (413) and connected to the adjusting screw (414); and An adjusting handwheel (416) is provided on the adjusting screw (414).

10. An automatic assembly device for crossed roller bearings according to claim 9, characterized in that, The height adjustment device (41) further includes: The feeding base plate (421) is slidably disposed on the adjusting guide rod (411) and located above the feeding base plate (10). The first vibrating plate (11), the second vibrating plate (12), the first feeding assembly (21) and the second feeding assembly (22) are all disposed on the feeding base plate (421). A feeding screw (422) has one end mounted on the feeding base plate (421) and the other end movably inserted into the adjusting base plate (412); and The feeding nut is provided on the feeding screw (422) and located on both sides of the adjusting base plate (412) for adjusting the height position of the first feeding assembly (21) and the second feeding assembly (22).

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