Bearing automatic assembly device based on robot

Abstract

The utility model discloses a bearing automatic assembly device based on mechanical arm, including base, the top of base is installed two -armed robot, the output of two -armed robot is installed and clamps the jaw, and the bottom outside of two -armed robot is provided with tray conveying line, and the one side of base's top is provided with steel ball distribution unit. Through two -armed robot, bearing assembly spare on tray conveying line is grabbed, and is placed in the specified position, and through the operation of automatic control each module unit of control system, completes the automatic assembly to bearing inner and outer ring, steel ball and circlip, and through two -armed robot, the bearing of completing assembly is put into the material tray on tray conveying line, can carry out automatic assembly production to bearing, reduces the overall volume of equipment, and reduces the complexity of material transmission mechanism, thereby reduces equipment cost and failure rate, improves the production efficiency of bearing.

Description

Technical Field

[0001] This utility model relates to the field of bearing production equipment technology, and in particular to an automatic bearing assembly device based on a robotic arm. Background Technology

[0002] Bearings are mechanical components used to support rotating shafts or linearly moving parts. They reduce frictional resistance, maintain rotational accuracy, and transmit loads. By converting sliding friction between rotating parts into rolling friction, they significantly reduce energy loss and improve equipment efficiency. They are widely used in various fields such as automobiles, machinery, aerospace, wind power, and home appliances. In existing technologies, traditional bearing assembly is automated using equipment such as cylinders and electric push rods. The assembly of materials between assembly units often requires complex transfer mechanisms, resulting in a large overall equipment size and an overly complex assembly line layout. This not only increases equipment costs but also leads to a high equipment failure rate, affecting bearing production efficiency.

[0003] The technical problem this utility model aims to solve is to design a technology that reduces the maintenance frequency of bearing assembly equipment and reduces the overall size of the equipment. Utility Model Content

[0004] This invention provides an automated bearing assembly device based on a robotic arm. The device uses a dual-arm robotic arm to pick up bearing components from a pallet conveyor line and place them in designated positions. A control system automatically controls the operation of each module unit to complete the automated assembly of the bearing's inner and outer rings, steel balls, and retaining rings. The assembled bearing is then placed into a material pallet on the pallet conveyor line by the dual-arm robotic arm. This automated bearing assembly production reduces the overall size of the equipment and the complexity of the material handling mechanism, thereby lowering equipment costs and failure rates, and improving bearing production efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: This utility model provides an automatic bearing assembly device based on a robotic arm, including a base, a dual-arm robotic arm mounted on the top of the base, grippers mounted on the output ends of the dual-arm robotic arm, a tray conveyor line arranged on the outer side of the bottom of the dual-arm robotic arm, and a steel ball distribution unit arranged on one side of the top of the base; the steel ball distribution unit includes a fixed seat, a steel ball hopper, a discharge port, a first dual-axis cylinder, a clamping seat, a second dual-axis cylinder, a limiting rod, a limiting block, and a discharge port; the fixed seat is fixedly connected to one side of the top of the base, and the steel ball hopper is fixedly connected to the top of the fixed seat. The ball bearing hopper has a discharge port on one side of its bottom. A first dual-axis cylinder is installed on the fixed base below the ball bearing hopper. A clamping seat is fixedly connected to the output end of the first dual-axis cylinder. A second dual-axis cylinder is installed at the bottom of the fixed base. A limit rod is fixedly connected at equal intervals to the output end of the second dual-axis cylinder near the dual-arm manipulator. A limit block is fixedly connected to the output end of the second dual-axis cylinder away from the dual-arm manipulator. Both the limit rod and the limit block are connected to the fixed base. A discharge port is opened on the top of the fixed base away from the first dual-axis cylinder.

[0006] Preferably, a material moving unit is provided on the top of the base; the material moving unit includes a horizontal rail, a moving seat, a threaded screw, and a servo motor; the horizontal rail is fixedly connected to the top of the base, the moving seat is movably connected to the top of the horizontal rail, the threaded screw is rotatably connected inside the horizontal rail, the threaded screw is threadedly connected to the moving seat, a servo motor is installed at one end of the horizontal rail, and the output end of the servo motor is drivenly connected to the threaded screw.

[0007] Preferably, a ball positioning unit is provided on the top of the base; the ball positioning unit includes a first fixing frame, a third dual-axis cylinder and a ball distributor; the first fixing frame is fixedly connected to the top of the base on one side of the fixing seat, the third dual-axis cylinder is installed on the inner bottom of the first fixing frame, and the ball distributor is fixedly connected to the output end of the third dual-axis cylinder.

[0008] Preferably, a snap ring discharge unit is provided on the top of the base; the snap ring discharge unit includes a second fixing frame, a snap ring material barrel, a discharge plate, a snap ring discharge hole, and a first servo cylinder; the second fixing frame is fixedly connected to the top of the base on the side away from the fixing seat, the snap ring material barrel is fixedly connected to the side of the second fixing frame away from the fixing seat, the discharge plate is movably connected to the bottom of the snap ring material barrel on the second fixing frame, the snap ring discharge hole is opened on the side of the discharge plate near the fixing seat, the first servo cylinder is fixedly connected to the side of the second fixing frame away from the fixing seat on the side of the snap ring material barrel, and the output end of the first servo cylinder is fixedly connected to the discharge plate.

[0009] Preferably, a snap ring clamping module is provided on the top of the second fixed frame; the snap ring clamping module includes an electric push rod and a snap ring clamping seat; the electric push rod is installed on the top of the second fixed frame, and the output end of the electric push rod is fixedly connected to the snap ring clamping seat, which is connected to the snap ring discharge hole.

[0010] Preferably, the inner sides of the first and second fixed frames are provided with clamping components; the clamping components include a fourth dual-axis cylinder and a clamping seat; multiple fourth dual-axis cylinders are provided and are respectively installed on both sides of the first and second fixed frames, and the output end of the fourth dual-axis cylinder is fixedly connected to the clamping seat.

[0011] Preferably, the movable base has a limiting structure inside; the limiting structure includes a second servo cylinder and a lifting plate; the second servo cylinder is installed inside the movable base, and the output end of the second servo cylinder is fixedly connected to the lifting plate, which is connected to the movable base.

[0012] The technical solution of this utility model has the following technical effects compared with the prior art: the bearing assembly parts on the pallet conveyor line are grasped by a dual-arm robotic arm and placed in a designated position. The control system automatically controls the operation of each module unit to complete the automated assembly of the inner and outer rings, steel balls and snap rings of the bearing. The assembled bearing is then placed into the material pallet on the pallet conveyor line by the dual-arm robotic arm. This enables automated assembly production of bearings, reduces the overall size of the equipment, and reduces the complexity of the material transfer mechanism between assembly units, thereby reducing equipment costs and failure rates. This helps to improve the production efficiency of bearings. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the external appearance of an automatic bearing assembly device based on a robotic arm according to this utility model. Figure 2 This is a schematic diagram of the appearance of the ball distribution unit, ball positioning unit and snap ring clamping module in the automatic bearing assembly device based on a robotic arm according to this utility model. Figure 3 This is a schematic diagram of the fixed seat, steel ball hopper, and first dual-axis cylinder in an automatic bearing assembly device based on a robotic arm according to this utility model. Figure 4 This is a schematic diagram of the horizontal rail, the first fixed frame, and the ball separator in an automatic bearing assembly device based on a robotic arm according to this utility model. Figure 5 This is a schematic diagram of the appearance of the second fixing frame, the snap ring clamping seat and the discharge plate in the automatic bearing assembly device based on a robot arm according to this utility model; Figure 6 for Figure 4 A magnified view of a portion of region A in the middle.

[0014] Reference numerals: 1. Base; 2. Dual-arm robotic arm; 3. Gripper; 4. Pallet conveyor line; 5. Steel ball distribution unit; 51. Fixed seat; 52. Steel ball hopper; 53. Discharge port; 54. First dual-axis cylinder; 55. Clamping seat; 56. Second dual-axis cylinder; 57. Limiting rod; 58. Limiting block; 59. Discharge port; 6. Material moving unit; 61. Horizontal rail; 62. Moving seat; 63. Lead screw; 64. Servo motor; 7. Steel ball positioning unit; 71. First fixed frame; 72. Third dual-axis cylinder; 73. Ball separator; 8. Snap ring discharge unit; 81. Second fixed frame; 82. Snap ring material barrel; 83. Discharge plate; 84. Snap ring discharge hole; 85. First servo cylinder; 9. Snap ring clamping module; 91. Electric push rod; 92. Snap ring clamping seat; 10. Clamping assembly; 101. Fourth dual-axis cylinder; 102. Clamping seat; 11. Limiting structure; 111. Second servo cylinder; 112. Lifting plate. Detailed Implementation

[0015] like Figures 1-6 As shown, this utility model provides an automatic bearing assembly device based on a robotic arm, including a base 1, a dual-arm robotic arm 2 mounted on the top of the base 1, grippers 3 mounted on the output end of the dual-arm robotic arm 2, a tray conveyor line 4 provided on the outer side of the bottom of the dual-arm robotic arm 2, and a steel ball distribution unit 5 provided on one side of the top of the base 1; the steel ball distribution unit 5 includes a fixed seat 51, a steel ball hopper 52, a discharge port 53, a first dual-axis cylinder 54, a clamping seat 55, a second dual-axis cylinder 56, a limiting rod 57, a limiting block 58, and a discharge port 59; the fixed seat 51 is fixedly connected to one side of the top of the base 1, and the steel ball hopper 52 is fixedly connected to the top of the fixed seat 51. A discharge port 53 is provided on one side of the bottom of the steel ball material barrel 52. A first dual-axis cylinder 54 is installed on the fixed base 51 below the steel ball material barrel 52. A clamping seat 55 is fixedly connected to the output end of the first dual-axis cylinder 54. A second dual-axis cylinder 56 is installed at the bottom of the fixed base 51. A limit rod 57 is fixedly connected at equal intervals to the output end of the second dual-axis cylinder 56 near the side of the dual-arm robot 2. A limit block 58 is fixedly connected to the output end of the second dual-axis cylinder 56 away from the side of the dual-arm robot 2. The limit rod 57 and the limit block 58 are both connected to the fixed base 51. A discharge port 59 is opened on the top of the fixed base 51 away from the first dual-axis cylinder 54.

[0016] In the specific implementation process, it is worth noting that the base 1 is used to install the dual-arm robot 2 and each assembly unit of the bearing assembly device. Through the cooperation between the base 1, the dual-arm robot 2, and the gripper 3, a dual-arm design is adopted. The control system controls the dual-arm robot 2 and the gripper 3 according to the set program to grasp and place the bearing assembly parts, and to remove the assembled bearings, improving the flexibility and accuracy of the assembly. The pallet conveyor line 4 transports the inner and outer rings of the bearings and the assembled bearings through material conveying pallets. The material pallet containing the bearing assembly parts moves to one side of the dual-arm robot 2, and then... The dual-arm robotic arm 2 grips the bearing assembly parts, and the empty material pallet moves to the other side of the robotic arm 2 to load the assembled bearings and move them to the subsequent processing steps, realizing automated assembly line operation and improving production efficiency. Through the cooperation between the fixed base 51, the steel ball barrel 52, and the discharge port 53, the steel ball barrel 52 stores the steel balls used for bearing assembly. The discharge port 53 on the bottom side of the steel ball barrel 52 is equipped with a valve for controlling the steel ball conveying and a photoelectric sensor for sensing the number of steel balls conveyed, enabling precise control of the number of steel balls discharged from the discharge port 53, realizing the steel ball assembly process. The automated conveying of the bearing balls utilizes the coordination between the fixed base 51, the first dual-axis cylinder 54, the clamping seat 55, the second dual-axis cylinder 56, the limiting rod 57, and the limiting block 58. The dual-arm robotic arm 2 sequentially places the inner and outer rings of the bearing onto the top of the fixed base 51, below the discharge port 53. The control system automatically controls the first dual-axis cylinder 54, which, through the clamping seat 55 and the limiting rod 57, clamps the outer ring of the bearing. Simultaneously, the limiting rod 57 limits the inner ring of the bearing, creating a larger gap between the inner and outer rings below the discharge port 53 to facilitate the smooth insertion of the bearing balls. This is achieved through the coordination of the fixed base 51, the first dual-axis cylinder 54, the clamping seat 55, the second dual-axis cylinder 56, the limiting rod 57, and the limiting block 58. The coordination between the clamping seat 55, the second dual-axis cylinder 56, the limiting rod 57, the limiting block 58, and the unloading port 59 is as follows: After the bearing steel balls are installed, the control system automatically controls the second dual-axis cylinder 56 to move the limiting rod 57 and the limiting block 58 downward, releasing the restriction on the inner and outer rings of the bearing. At the same time, the control system automatically controls the extension rod of the first dual-axis cylinder 54 to extend, so that the clamping seat 55 pushes the bearing assembly to the unloading port 59, moving the bearing assembly to the subsequent assembly station. The specific models of the dual-arm robot 2, the first dual-axis cylinder 54, and the second dual-axis cylinder 56 are not limited, as long as they meet the usage requirements.

[0017] In one feasible embodiment, a material moving unit 6 is provided on the top of the base 1; the material moving unit 6 includes a horizontal rail 61, a moving seat 62, a threaded screw 63, and a servo motor 64; the horizontal rail 61 is fixedly connected to the top of the base 1, the moving seat 62 is movably connected to the top of the horizontal rail 61, the threaded screw 63 is rotatably connected inside the horizontal rail 61, the threaded screw 63 is threadedly connected to the moving seat 62, and a servo motor 64 is installed at one end of the horizontal rail 61, the output end of the servo motor 64 is connected to the threaded screw 63 for transmission.

[0018] In the specific implementation process, it is worth noting that through the cooperation between the horizontal rail 61, the movable seat 62, the threaded screw 63, and the servo motor 64, the control system automatically controls the servo motor 64 according to the set program, driving the threaded screw 63 to rotate, thereby realizing the horizontal movement of the movable seat 62, and thus driving the bearing assembly on the top of the movable seat 62 to move. Furthermore, a laser rangefinder sensor is installed at one end of the horizontal rail 61 to accurately sense the movement position of the movable seat 62, which facilitates the control system to control the movement position of the movable seat 62, enabling the bearing assembly to move accurately to the designated position, realizing the transfer of the bearing assembly between various assembly units, and improving the assembly accuracy and efficiency. The specific model of the servo motor 64 is not limited, as long as it meets the usage requirements.

[0019] In one feasible embodiment, a ball positioning unit 7 is provided on the top of the base 1; the ball positioning unit 7 includes a first fixing frame 71, a third dual-axis cylinder 72 and a ball distributor 73; the first fixing frame 71 is fixedly connected to the top of the base 1 on one side of the fixing seat 51, the third dual-axis cylinder 72 is installed on the inner bottom of the first fixing frame 71, and the output end of the third dual-axis cylinder 72 is fixedly connected to the ball distributor 73.

[0020] In the specific implementation process, it is worth noting that the number of distribution rods at the bottom of the ball distributor 73 matches the number of steel balls required for the bearing, ensuring that each steel ball can be accurately distributed to the predetermined position. Through the cooperation between the first fixed frame 71, the third dual-axis cylinder 72, and the ball distributor 73, after the bearing assembly moves to below the first fixed frame 71, the control system automatically controls the third dual-axis cylinder 72 according to the set program to drive the ball distributor 73 to move downward. The distribution rods at the bottom of the ball distributor 73 are inserted between the steel balls in sequence, so that the steel balls are evenly distributed between the inner and outer rings of the bearing, ensuring that the steel balls are accurately positioned in the preset position, maintaining the stability of the inner and outer rings of the bearing, and providing a precise positioning basis for subsequent assembly steps. The specific model of the third dual-axis cylinder 72 is not limited, as long as it meets the usage requirements.

[0021] In one feasible embodiment, a snap ring discharge unit 8 is provided on the top of the base 1; the snap ring discharge unit 8 includes a second fixing frame 81, a snap ring material barrel 82, a discharge plate 83, a snap ring discharge hole 84, and a first servo cylinder 85; the second fixing frame 81 is fixedly connected to the top of the base 1 on the side away from the fixing seat 51, the snap ring material barrel 82 is fixedly connected to the side of the second fixing frame 81 away from the fixing seat 51, the discharge plate 83 is movably connected to the bottom of the second fixing frame 81 at the snap ring material barrel 82, the snap ring discharge hole 84 is opened on the side of the discharge plate 83 near the fixing seat 51, the first servo cylinder 85 is fixedly connected to the side of the second fixing frame 81 at the side of the snap ring material barrel 82 away from the fixing seat 51, and the output end of the first servo cylinder 85 is fixedly connected to the discharge plate 83.

[0022] In the specific implementation process, it is worth noting that, through the cooperation between the second fixed frame 81, the snap ring barrel 82, the discharge plate 83, the snap ring discharge hole 84, and the first servo cylinder 85, the bearing snap rings are stored inside the snap ring barrel 82. The control system automatically controls the first servo cylinder 85 according to the set program, driving the discharge plate 83 to move. When the snap ring discharge hole 84 moves to the bottom of the snap ring barrel 82, the bearing snap ring at the bottom of the snap ring barrel 82 enters the interior of the snap ring discharge hole 84 under the action of gravity, and is then stored in the bearing assembly. When the bearing is moved to the underside of the second fixed frame 81, the telescopic rod of the first servo cylinder 85 automatically extends, precisely moving the bearing retainer in the retainer discharge hole 84 to the retainer clamping position. After clamping the retainer on one side, the first servo cylinder 85 automatically resets, waiting for the next clamping operation. At the same time, the moving seat 62 moves the bearing assembly out of the second fixed frame 81, flips it over using the dual-arm manipulator 2, and moves it again to the retainer clamping position for clamping. The specific model of the first servo cylinder 85 is not limited, as long as it meets the usage requirements.

[0023] In one feasible embodiment, a snap ring clamping module 9 is provided on the top of the second fixed frame 81; the snap ring clamping module 9 includes an electric push rod 91 and a snap ring clamping seat 92; the electric push rod 91 is installed on the top of the second fixed frame 81, and the output end of the electric push rod 91 is fixedly connected to the snap ring clamping seat 92, which is engaged with the snap ring discharge hole 84.

[0024] In the specific implementation process, it is worth noting that, through the cooperation between the second fixed frame 81, the snap ring discharge hole 84, the electric push rod 91, and the snap ring clamping seat 92, when it is necessary to clamp the bearing snap ring, the control system automatically controls the electric push rod 91 according to the set program to drive the snap ring clamping seat 92 to move downward. After the bottom of the snap ring clamping seat 92 passes through the snap ring discharge hole 84, the positioning snap ring is accurately pressed into the groove between the inner and outer rings of the bearing, thereby achieving precise positioning of the bearing steel ball. The specific model of the electric push rod 91 is not limited, as long as it meets the usage requirements.

[0025] In one feasible embodiment, clamping assemblies 10 are provided on the inner sides of both the first fixing frame 71 and the second fixing frame 81; the clamping assembly 10 includes a fourth dual-axis cylinder 101 and a clamping seat 102; multiple fourth dual-axis cylinders 101 are provided and are respectively installed on both sides of the first fixing frame 71 and the second fixing frame 81, and the output end of the fourth dual-axis cylinder 101 is fixedly connected to the clamping seat 102.

[0026] In the specific implementation process, it is worth noting that, through the cooperation between the first fixed frame 71, the second fixed frame 81, the fourth dual-axis cylinder 101, and the clamping seat 102, when the bearing assembly is positioned by steel balls and the retaining ring is clamped, the control system automatically controls the fourth dual-axis cylinder 101 according to the set program to drive the clamping seat 102 to clamp and limit the bearing assembly, thereby improving the stability of the bearing assembly during steel ball positioning and retaining ring clamping, thus ensuring the accuracy and efficiency of bearing assembly. The specific model of the fourth dual-axis cylinder 101 is not limited, as long as it meets the usage requirements.

[0027] In one feasible embodiment, a limiting structure 11 is provided inside the movable base 62; the limiting structure 11 includes a second servo cylinder 111 and a lifting plate 112; the second servo cylinder 111 is installed inside the movable base 62, and the output end of the second servo cylinder 111 is fixedly connected to the lifting plate 112, and the lifting plate 112 is connected to the movable base 62 in cooperation.

[0028] In the specific implementation process, it is worth noting that through the cooperation between the movable seat 62, the second servo cylinder 111, and the lifting plate 112, the control system automatically controls the second servo cylinder 111 according to the set program to realize the lifting and lowering of the lifting plate 112. When the bearing assembly is transferred from the discharge port 59 to the movable seat 62, the lifting plate 112 rises and inserts into the interior of the discharge port 59 to receive the bearing assembly. Then the lifting plate 112 moves downward, forming a groove on the top of the movable seat 62 to limit the bearing assembly and improve the stability of the bearing assembly during movement. The specific model of the second servo cylinder 111 is not limited, as long as it meets the usage requirements.

[0029] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robotic arm-based automatic bearing assembly device, comprising a base, characterized in that: A dual-arm robotic arm is mounted on the top of the base, and a gripper is mounted on the output end of the dual-arm robotic arm. A tray conveyor line is provided on the outer bottom of the dual-arm robotic arm, and a steel ball distribution unit is provided on one side of the top of the base. The steel ball distribution unit includes a fixed seat, a steel ball hopper, a discharge port, a first dual-axis cylinder, a clamping seat, a second dual-axis cylinder, a limiting rod, a limiting block, and a discharge port; The fixed base is fixedly connected to the top side of the base, the steel ball barrel is fixedly connected to the top of the fixed base, and a discharge port is provided on the bottom side of the steel ball barrel. A first dual-axis cylinder is installed on the fixed base below the steel ball barrel. A clamping seat is fixedly connected to the output end of the first dual-axis cylinder. A second dual-axis cylinder is installed at the bottom of the fixed base. A limit rod is fixedly connected at equal intervals to the output end of the second dual-axis cylinder near the dual-arm robot. A limit block is fixedly connected to the output end of the second dual-axis cylinder away from the dual-arm robot. The limit rod and the limit block are both connected to the fixed base. A discharge port is opened on the top side of the fixed base away from the first dual-axis cylinder.

2. The automatic bearing assembly device based on a robotic arm according to claim 1, characterized in that: A material moving unit is provided on the top of the base; The material moving unit includes a horizontal rail, a moving seat, a threaded screw, and a servo motor; The horizontal rail is fixedly connected to the top of the base, and a movable seat is movably connected to the top of the horizontal rail. A threaded screw is rotatably connected inside the horizontal rail, and the threaded screw is threadedly connected to the movable seat. A servo motor is installed at one end of the horizontal rail, and the output end of the servo motor is drivenly connected to the threaded screw.

3. The automatic bearing assembly device based on a robotic arm according to claim 1, characterized in that: A steel ball positioning unit is provided on the top of the base; The ball positioning unit includes a first fixing frame, a third dual-axis cylinder, and a ball distributor; The first fixing frame is fixedly connected to the top of the base and located on one side of the fixing seat. A third dual-axis cylinder is installed on the inner bottom of the first fixing frame, and a ball distributor is fixedly connected to the output end of the third dual-axis cylinder.

4. The automatic bearing assembly device based on a robotic arm according to claim 3, characterized in that: The top of the base is provided with a snap ring discharge unit; The snap ring discharge unit includes a second fixed frame, a snap ring material barrel, a discharge plate, a snap ring discharge hole, and a first servo cylinder; The second fixing frame is fixedly connected to the top of the base on the side away from the fixing seat. A snap ring hopper is fixedly connected to the side of the second fixing frame away from the fixing seat. A discharge plate is movably connected to the bottom of the snap ring hopper. A snap ring discharge hole is opened on the side of the discharge plate near the fixing seat. A first servo cylinder is fixedly connected to the side of the second fixing frame away from the fixing seat. The output end of the first servo cylinder is fixedly connected to the discharge plate.

5. The automatic bearing assembly device based on a robotic arm according to claim 4, characterized in that: The top of the second fixing frame is provided with a snap ring clamping module; The snap ring clamping module includes an electric push rod and a snap ring clamping seat; The electric push rod is installed on the top of the second fixed frame, and the output end of the electric push rod is fixedly connected to a snap ring clamping seat, which is connected to the snap ring discharge hole.

6. The automatic bearing assembly device based on a robotic arm according to claim 4, characterized in that: Clamping components are provided on the inner sides of both the first and second fixing frames; The clamping assembly includes a fourth biaxial cylinder and a clamping seat; Multiple fourth dual-axis cylinders are provided and are respectively installed on both sides of the first fixed frame and the second fixed frame. The output end of the fourth dual-axis cylinder is fixedly connected to a clamping seat.

7. The automatic bearing assembly device based on a robotic arm according to claim 2, characterized in that: The movable base is equipped with a limiting structure inside; The limiting structure includes a second servo cylinder and a lifting plate; The second servo cylinder is installed inside the moving base, and a lifting plate is fixedly connected to the output end of the second servo cylinder. The lifting plate is connected to the moving base.

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