CN112324808B

CN112324808B - Automatic assembling machine for automobile hub bearing outer ring assembly and assembling method thereof

Info

Publication number: CN112324808B
Application number: CN202011217787.9A
Authority: CN
Inventors: 李成求; 张庆鳞; 王强坤
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2022-03-08
Anticipated expiration: 2040-11-04
Also published as: CN112324808A

Abstract

The invention provides an automatic assembling machine for an automobile hub bearing outer ring assembly and an assembling method of the automatic assembling machine. The invention can lead the retainer with the balls to be assembled in an inclined way and extrude into the outer ring of the automobile hub bearing under the minimum deformation, thus finishing the assembly.

Description

Automatic assembling machine for automobile hub bearing outer ring assembly and assembling method thereof

Technical Field

The invention relates to the field of automatic assembly, in particular to an automatic assembly machine for an automobile hub bearing outer ring assembly and an assembly method thereof.

Background

The third generation automobile hub bearing integrates a multifunctional part on the bearing, so that the structure is complex. The hub bearing is a core part of an automobile, and has large demand and high technical requirement. The automatic assembly is realized, the production efficiency of the hub bearing is improved, the assembly precision can be improved, and the service life is prolonged.

When the third-generation automobile hub bearing outer ring is assembled with the retainer with the balls, the automobile hub bearing outer ring is convenient for fixedly assembling the retainer with the balls, the boss is designed in the inner diameter, the retainer with the balls can be fastened by the boss, and the difficulty is brought to automatic assembly because the minimum diameter of the boss is smaller than the maximum outer diameter of the retainer with the balls.

Chinese patent discloses a full-automatic fitting assembly machine of automobile wheel hub double-row angular contact ball bearing, and the assembly machine includes: the rolling body feeding module comprises a conveying belt for conveying the rolling bodies, is provided with a gas claw for clamping the rolling bodies and then is conveyed to an assembly station by a slewing mechanism; the standard cylinder drives the claw seat to transversely displace to realize feeding of the outer ring of the hub bearing; and the pressing fit module is used for pressing the rolling body into the outer ring of the hub bearing after the rolling body is placed into the outer ring of the hub bearing and driving a pressure head by a loading cylinder. Although this device realizes the assembly of the rolling bodies with the hub bearing outer ring, the device has problems:

(1) the assembly tasks are all realized by the air cylinders, the structure is not flexible, only the assembly of one type of hub bearing can be realized, and if the hub bearings of different types are replaced, the structure needs to be greatly changed;

(2) the cage with the balls inside needs to be squeezed into the outer ring, and the equipment assembly mode can damage the cage.

In the current stage, the assembly of the third-generation automobile hub bearing outer ring and the retainer with the balls is mainly completed manually, the manual operation can pollute parts, the labor intensity is high, the assembly efficiency is low, and the assembly quality is unstable.

Disclosure of Invention

According to the proposal, the minimum diameter of the lug boss is smaller than the maximum outer diameter of the retainer filled with the ball body, so that the difficulty is brought to automatic assembly; the assembly of the third-generation automobile hub bearing outer ring and the retainer with the balls is still completed manually at the present stage, the manual operation can pollute parts, the labor intensity is high, and the assembly efficiency is low. According to the invention, the retainer with the balls is placed on the auxiliary assembly table by mainly utilizing the feeding mechanism, the hub bearing outer ring is clamped by utilizing the XZ axis rectangular coordinate robot, and the retainer is assembled with the two retainers with the balls placed on the auxiliary assembly table, so that the retainers with the balls can be assembled in an inclined manner, and the retainers with the balls are extruded into the automobile hub bearing outer ring under the minimum deformation, and the assembly is completed.

The technical means adopted by the invention are as follows:

an automatic assembling machine for an automobile hub bearing outer ring assembly comprises: the system comprises a feeding mechanism, an XZ-axis rectangular coordinate robot, at least two auxiliary assembly tables, a workbench and a rack, wherein the workbench is arranged on the rack, the feeding mechanism and the auxiliary assembly tables are sequentially arranged on the workbench from back to front, and the XZ-axis rectangular coordinate robot is arranged on the rack;

the feeding mechanism is provided with a first turnover mechanism and a feeding turnover manipulator connected with the first turnover mechanism, the feeding turnover manipulator clamps a ball-loaded retainer located at a feeding waiting position, the feeding turnover manipulator rotates through the first turnover mechanism, the ball-loaded retainer is conveyed to a position right above the auxiliary assembly table, the feeding turnover manipulator loosens the ball-loaded retainer, and the ball-loaded retainer freely falls onto the auxiliary assembly table;

be equipped with moving mechanism, the second tilting mechanism that links to each other with moving mechanism and the centre gripping manipulator that links to each other with second tilting mechanism on the XZ axle rectangular coordinate robot, the centre gripping manipulator will be located the wheel hub bearing outer lane centre gripping that the bearing inner race supplied the material level, through moving mechanism delivers to the wheel hub bearing outer lane directly over supplementary assembly bench to the downstream will the holder assembly of the dress ball on the supplementary assembly bench is in the one end of wheel hub bearing outer lane, through second tilting mechanism will the centre gripping manipulator carries out 180 degrees upsets, assembles the other end at the wheel hub bearing outer lane with the holder of the dress ball of second.

Further, the first turnover mechanism comprises a left turnover side plate, a feeding turnover cylinder seat, an auxiliary turnover shaft, a first chain wheel, a chain wheel seat, a second chain wheel, a chain wheel shaft, a screw rod seat, a balance block, a turnover adapter plate, a right turnover side plate and a right turnover auxiliary plate;

the center of the feeding overturning cylinder seat is provided with a bearing I, the bearing I is provided with the auxiliary overturning shaft, one end of the auxiliary overturning shaft penetrating out of the bearing I is connected with the first chain wheel, the first chain wheel is connected with the second chain wheel through the chain, the second chain wheel is connected with the chain wheel shaft, the chain wheel seat is fixed on the rack, the center of the chain wheel seat is provided with two bearings II, the chain wheel shaft penetrates through the two bearings II, the chain wheel shaft drives the screw rod seat through key connection, the inner surface of the screw rod seat is provided with a threaded hole, a balance screw rod is arranged in the threaded hole, the center of the balance block is provided with a through hole I, one end of the balance screw rod penetrates through the through hole I and extends to the outside, the outer surface of the balance screw rod is provided with an external thread, and a shaft shoulder is arranged at a certain distance away from the external thread, the balance weight is fixed through a nut and the shaft shoulder;

the right side of the feeding overturning cylinder seat is fixedly provided with the feeding overturning cylinder, the feeding overturning cylinder is connected with the overturning adapter plate, the other end of the auxiliary overturning shaft is connected with the overturning adapter plate, the overturning adapter plate is connected with the left overturning side plate, the left overturning side plate is connected with the right overturning side plate through a clamping jaw fixing plate and an overturning rib plate, and the right overturning side plate is connected with the right overturning auxiliary plate through a bolt bearing;

and the clamping jaw fixing plate is provided with the feeding overturning mechanical arm.

Furthermore, the feeding turnover manipulator is composed of at least two sets of feeding flat-open mechanical clamping jaws, each feeding flat-open mechanical clamping jaw is composed of a feeding flat-open cylinder and a feeding clamping jaw connected with the feeding flat-open cylinder, the feeding flat-open cylinder drives the feeding clamping jaws to perform clamping movement, 4 triangular clamping jaw baffles are fixed on the upper surface and the lower surface of each feeding clamping jaw respectively and used for clamping a retainer filled with balls, adjusting studs are fixed on the feeding clamping jaws, and the opening and closing stroke of the feeding flat-open cylinder can be changed according to the assembly of hub bearing outer rings of different models;

each set of feeding flat-open mechanical clamping jaw is respectively matched with one auxiliary assembly platform for operation.

Furthermore, the moving mechanism consists of an X-axis ball screw, a Z-axis ball screw, an X-axis motor arranged at the end part of the X-axis ball screw and a Z-axis motor arranged at the end part of the Z-axis ball screw, and is used for realizing the horizontal movement or the vertical movement of the second turnover mechanism and the clamping manipulator; the second turnover mechanism is fixed on the Z-axis ball screw through an adapter plate;

the horizontal movement is realized by driving the X-axis ball screw by the X-axis motor, and the vertical movement is realized by driving the Z-axis ball screw by the Z-axis motor.

Further, the second turnover mechanism comprises a turnover shaft, a turnover shaft seat, a turnover cylinder seat, a switching sleeve, a turnover cylinder and a switching plate;

the right side of the adapter plate is fixedly connected with the moving mechanism, the left side of the adapter plate is connected with the turnover cylinder seat, the back of the turnover cylinder seat is fixedly provided with the turnover cylinder, and the front of the turnover cylinder seat is connected with the turnover shaft seat; two bearings III are arranged inside the overturning shaft seat, the overturning shaft is mounted on the two bearings III, and the overturning shaft penetrates through the overturning shaft seat and the overturning cylinder; the tail end of the turnover shaft is provided with a square spline, the square spline is matched with a square hole in the middle of the adapter sleeve, and four uniformly distributed holes formed in the adapter sleeve are connected with a flange plate of the turnover cylinder;

the head end of the turnover shaft is connected with the clamping manipulator.

Furthermore, the clamping manipulator comprises a rear clamping plate, a clamping seat, an assembling flat-open clamping cylinder, a cylinder connecting plate and a right clamping seat;

one side of the cylinder connecting plate is fixedly connected with the head end of the turnover shaft, the other side of the cylinder connecting plate is connected with the assembling flat-open clamping cylinder, two sliding blocks are arranged on the assembling flat-open clamping cylinder and respectively drive the left and right rear clamping plates to reciprocate leftwards and rightwards, two clamping plates are respectively fixed on the side surfaces of the left and right rear clamping plates, positioning blocks are fixed below the left and right clamping plates, a rectangular groove is formed between each clamping plate and the positioning block, the left and right clamping seats are respectively inserted into the two rectangular grooves, coaxial through holes are respectively formed in the clamping plates, the positioning blocks and the clamping seats, ball pins are jointly connected in the three through holes, and the ball pins penetrate through the three through holes to realize positioning;

the upper surface and the lower surface of the clamping seat on the left side are respectively provided with a rectangular clamping block and a supporting plate, the front part of the supporting plate is provided with an arc-shaped notch for clamping the outer surface of the hub bearing outer ring, and the diameter of the arc-shaped notch is equal to the outer diameter of a clamping end of the hub bearing outer ring; the upper surface and the lower surface of the right clamping seat are respectively provided with a V-shaped clamping block and a supporting plate, and the two supporting plates positioned at the left side and the right side have the same structure and are symmetrically arranged; the rectangular clamping blocks and the supporting plate positioned on the left side are respectively used for clamping the upper and lower outer surfaces of the left side of the flange plate of the outer ring of the hub bearing, and the V-shaped clamping blocks and the supporting plate positioned on the right side are respectively used for clamping the upper and lower outer surfaces of the right side of the flange plate of the outer ring of the hub bearing; and the V-shaped clamping block performs secondary positioning on the outer ring of the hub bearing in the clamping movement process.

Furthermore, the left clamping seat, the right clamping seat, the left supporting plate, the right supporting plate, the rectangular clamping block and the V-shaped clamping block which are different in size can be replaced according to automobile hub bearings of different models.

Further, the auxiliary assembly table comprises a buffer seat, a first spring, a linear bearing and a buffer guide shaft;

a through hole II is formed in the bottom of the buffer seat, the first spring is placed in the through hole II, the buffer guide shaft penetrates through the first spring, a shaft shoulder arranged on the buffer guide shaft is pressed at the upper end of the first spring, a rectangular through hole is formed in the side surface of the buffer seat, a threaded hole is formed in the side surface of the buffer guide shaft, a bolt penetrates through the rectangular through hole and is installed in the threaded hole, and the buffer guide shaft is fixedly connected with the buffer seat;

the buffer guide shaft is matched and connected with a shaft hole of the linear bearing, and the linear bearing penetrates through the workbench through a bolt to be connected with the buffer seat;

the upper end of the buffer guide shaft is provided with a positioning seat, a positioning support, a second spring, a pin shaft, a positioning washer and a ball stud, an inner hole of the positioning seat is provided with an upper inner shaft section, a middle inner shaft section and a lower inner shaft section, a bolt penetrates through the middle inner shaft section to be connected with the upper end of the buffer guide shaft, and the positioning seat is fixedly connected with the buffer guide shaft; a transverse through hole I is formed in the upper inner shaft section of the positioning seat, the positioning support is provided with an upper shaft section, a middle shaft section and a lower shaft section, a transverse through hole II is formed in the lower shaft section, and the ball stud penetrates through the transverse through hole I and the transverse through hole II; a blind hole is formed in the upper surface of the middle shaft section of the positioning support, the second spring and the pin shaft are placed in the blind hole, and the pin shaft penetrates through the second spring; the right end of the positioning washer and the horizontal plane form an included angle of 15 degrees, the left end of the positioning washer is provided with a through hole III, and the pin shaft penetrates through the through hole III.

Further, the elastic modulus of the first spring is greater than the elastic modulus of the second spring;

when the pin bearing is compressed by pressure and the second spring is compressed, the upper surface of the pin shaft is lowered to be flush with the positioning gasket.

The invention also provides an assembling method of the automatic assembling machine for the automobile hub bearing outer ring assembly, which comprises the following steps:

s1, conveying the retainer loaded with the balls from the previous station to a feeding waiting station; each feeding flat-open cylinder on the feeding mechanism drives each feeding clamping jaw to perform clamping movement respectively, and a retainer filled with balls is clamped;

s2, connecting the material supply turning cylinder with a turning adapter plate, connecting the turning adapter plate with an auxiliary turning shaft, and transmitting the rotary motion of the material supply turning cylinder to the auxiliary turning shaft;

the auxiliary turning shaft transmits the rotary motion to the feeding turning manipulator respectively to realize the turning motion from 0 degree to 180 degrees, and simultaneously transmits the rotary motion to the chain wheel shaft through the first chain wheel, the chain and the second chain wheel, the chain wheel shaft drives the balance block to realize the rotation from 0 degree to-180 degrees, so that the effect of balancing the self-weight influence of the feeding turning manipulator is realized;

s3, after the retainer loaded with the balls is conveyed to the position right above the auxiliary assembly table through the feeding turnover manipulator, the two material flat-open cylinders respectively drive the feeding clamping jaws to perform loosening motion, and the retainer loaded with the balls freely falls onto the auxiliary assembly table;

after feeding is finished, the feeding overturning cylinder transmits reverse rotation, the feeding overturning manipulator realizes overturning movement from 180 degrees to 0 degree, returns to the initial position and waits for the next feeding work;

s4, driving the XZ axis rectangular coordinate robot to reach a bearing outer ring material supply position under the drive of the X axis motor, wherein the bearing outer ring material supply position is the position of the previous process flow; the clamping manipulator is driven by a Z-axis motor to move downwards, and after the clamping manipulator reaches a specified position, a clamping cylinder is assembled and leveled to drive the clamping manipulator to clamp the outer ring of the hub bearing;

s5, after being clamped, the outer ring of the hub bearing is conveyed to the position right above the first auxiliary assembly table by an XZ axis rectangular coordinate robot; the retainer with the balls is jacked up by a second spring in an initial state and is obliquely arranged at an included angle of 15 degrees with the horizontal plane;

the XZ axis rectangular coordinate robot clamps the outer ring of the hub bearing and is driven by a Z axis motor to move downwards for assembly; one end of the retainer which is supported by the second spring and is provided with the balls is firstly arranged in the outer ring of the hub bearing, and the retainer provided with the balls is obliquely arranged and the balls are smooth, so that the position of the retainer can be automatically adjusted, and the process can be smoothly finished without extrusion force;

when one end of the retainer provided with the balls is arranged in the outer ring of the hub bearing, the outer ring of the hub bearing continues to move downwards, the elastic force of the second spring is overcome, the retainer provided with the balls tends to move horizontally from the inclined position, when a certain position is reached, extrusion force is required to act on the retainer provided with the balls, the retainer provided with the balls is deformed, the maximum outer diameter is smaller than the inner diameter of the outer ring of the hub bearing, the retainer can be continuously arranged, and the extrusion force in the process is provided by the first spring;

the XZ axis rectangular coordinate robot clamps the outer ring of the hub bearing and presses downwards, the buffer guide shaft moves downwards to extrude the first spring and gradually presses downwards, the upward extrusion force provided by the first spring is gradually increased, when the extrusion force is greater than a certain value, the retainer provided with the balls is deformed enough, the retainer provided with the balls can be completely extruded into the outer ring of the hub bearing, and the assembly of the first retainer provided with the balls on the outer ring of the hub bearing is completed;

s6, conveying the outer ring of the hub bearing to the position right above a second auxiliary assembly table by an XZ axis rectangular coordinate robot, transmitting rotary motion to a turnover shaft through a transfer sleeve by a turnover cylinder to drive a clamping manipulator to turn 180 degrees, facing the other side of the outer ring of the hub bearing downwards, repeating the step S5, and finishing the assembly of a second retainer provided with balls on the outer ring of the hub bearing under the drive of the XZ axis rectangular coordinate robot;

s7, the XZ axis rectangular coordinate robot sends the automobile hub bearing outer ring assembly which is assembled to a transmission belt and then to the next station, and then the XZ axis rectangular coordinate robot returns to the initial position.

Compared with the prior art, the invention has the following advantages:

1. the automatic assembling machine for the automobile hub bearing outer ring assembly and the assembling method thereof provided by the invention have the advantages that the grabbing characteristic and the overturning characteristic are finished, the efficiency is high, the stability is good, the retainer provided with the balls can be clamped efficiently and accurately, and the overturning is realized. The retainer with the balls can be assembled in an inclined mode, and the retainer is extruded into the outer ring of the automobile hub bearing under the minimum deformation, so that assembly is completed.

2. According to the automatic assembling machine for the automobile hub bearing outer ring assembly and the assembling method thereof, the XZ axis rectangular coordinate robot is matched with the feeding mechanical clamping jaw, the hub bearing outer ring can be stably clamped, the overturning cylinder can quickly realize overturning motion, and the motor drives the ball screw to complete appointed motion, so that accurate assembling is realized.

3. According to the automatic assembling machine for the automobile hub bearing outer ring assembly and the assembling method thereof, one end of the retainer provided with the balls is jacked up and installed in the hub bearing outer ring by the second spring of the auxiliary assembling table, so that the inclined assembly is realized, and the process is simple and quick; whole working process compares current assembly methods, can save some operating personnel, improves assembly efficiency.

In conclusion, the technical scheme of the invention can solve the problem that the automatic assembly is difficult because the minimum diameter of the boss is smaller than the maximum outer diameter of the retainer filled with the ball in the prior art; the assembly of the third-generation automobile hub bearing outer ring and the retainer with the balls is still completed manually in the current stage, the manual operation can pollute parts, the labor intensity is high, and the assembly efficiency is low.

Based on the reason, the invention can be widely popularized in the fields of automatic assembly and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an automatic assembling machine for an automobile hub bearing outer ring assembly of the present invention.

Fig. 2 is a task schematic diagram of the automatic assembling machine for the automobile hub bearing outer ring assembly of the invention, namely a structural schematic diagram of a retainer for assembling balls and a hub bearing outer ring.

FIG. 3 is a perspective view of a feeding mechanism in the automatic assembling machine for the automobile hub bearing outer ring assembly of the present invention.

FIG. 4 is a perspective view of an XZ axis rectangular coordinate robot in the automatic assembling machine for the automobile hub bearing outer ring assembly of the invention.

FIG. 5 is a top view of an XZ axis rectangular coordinate robot in the automatic assembling machine for the automobile hub bearing outer ring assembly of the invention.

FIG. 6 is a side sectional view of an auxiliary assembly table in the automatic assembly machine for the automobile hub bearing outer ring assembly of the present invention.

In the figure: 1. a feeding mechanism; 101. a left-turning side plate; 102. a feeding overturning cylinder; 103. a feeding overturning cylinder seat; 104. an auxiliary overturning shaft; 105. adjusting the stud; 106. a first sprocket; 107. a chain; 108. a sprocket seat; 109. a second sprocket; 110. a sprocket shaft; 111. a screw seat; 112. a balance screw; 113. a counterbalance; 114. a nut; 115. turning over the adapter plate; 116. a feed jaw; 117. a feeding flat-open cylinder; 118. a clamping jaw fixing plate; 119. a right-turning side plate; 120. a right flip auxiliary plate; 121. turning over the rib plate;

2. an XZ axis cartesian robot; 201. a rear splint; 202. a holder; 203. positioning blocks; 204. a turning shaft; 205. assembling a flat-open clamping cylinder; 206. a cylinder connecting plate; 207. a turning shaft seat; 208. turning over the cylinder seat; 209. a transfer sleeve; 210. an X-axis ball screw; 211. a rectangular clamping block; 212. a support plate; 213. a V-shaped clamping block; 214. a ball stud; 215. a splint; 216. a Z-axis ball screw; 217. turning over the air cylinder; 218. an X-axis motor; 219. a Z-axis motor; 220. an adapter plate; 221. a right clamping seat;

3. an auxiliary assembly table; 301. positioning and supporting; 302. a positioning washer; 303. a pin shaft; 304. a second spring; 305. a ball stud; 306. positioning seats; 307. a buffer guide shaft; 308. a linear bearing; 309. a buffer seat; 310. a first spring;

4. a work table; 5. a frame; 6. a retainer housing the balls; 7. and a hub bearing outer ring.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

In order to conveniently fix the retainer for installing the balls on the outer ring of the automobile hub bearing, the boss is designed in the inner diameter and can fasten the retainer for installing the balls, but because the minimum diameter of the boss is smaller than the maximum outer diameter of the retainer for installing the balls, the retainer can be extruded into the outer ring only by deformation, and difficulty is brought to automatic assembly. As shown in the figure, the invention provides an automatic assembling machine for an automobile hub bearing outer ring assembly, which has the advantages of reasonable design, high automation degree and high assembling efficiency, and comprises: feeding mechanism 1, XZ axle cartesian robot 2, two at least supplementary assembly stations 3, workstation 4 and frame 5, workstation 4 is arranged in on the frame 5, feeding mechanism 1 with supplementary assembly station 3 is installed in proper order from the back to the front on the workstation 4, XZ axle cartesian robot 2 arranges in on the frame 5.

The feeding mechanism 1 is provided with a first turnover mechanism and a feeding turnover manipulator connected with the first turnover mechanism, the feeding turnover manipulator clamps the ball-loaded retainer 6 positioned at a feeding waiting position, the feeding turnover manipulator rotates through the first turnover mechanism, the ball-loaded retainer 6 is conveyed to the position right above the auxiliary assembly table 3, the feeding turnover manipulator loosens the ball-loaded retainer 6, and the ball-loaded retainer 6 freely falls onto the auxiliary assembly table 3; and at least two feeding turnover manipulators are arranged and are respectively matched with one auxiliary assembly table 3 for operation.

Be equipped with moving mechanism, the second tilting mechanism that links to each other with moving mechanism and the centre gripping manipulator that links to each other with second tilting mechanism on the XZ axle rectangular coordinate robot 2, centre gripping manipulator will be located the wheel hub bearing outer lane 7 centre gripping that the bearing inner lane supplied the material level, through moving mechanism delivers to wheel hub bearing outer lane 7 directly over supplementary assembly bench 3 to the downstream will the holder 6 of the good ball of dress on supplementary assembly bench 3 assembles the one end at wheel hub bearing outer lane 7, through second tilting mechanism will the centre gripping manipulator carries out 180 degrees upsets, assembles the other end at wheel hub bearing outer lane 7 with the holder 6 of the good ball of second dress.

Example 1

As shown in fig. 1-2, an automatic assembling machine for an automobile hub bearing outer ring assembly is characterized in that a feeding mechanism 1 connected with a retainer 6 provided with balls, an XZ axis rectangular coordinate robot 2, two auxiliary assembling tables 3, a workbench 4 and a rack 5 are arranged on one side of the rack 5, the feeding mechanism 1 and the auxiliary assembling tables 3 provided with the retainer 6 provided with balls are sequentially arranged on the workbench 4 from back to front, and the XZ axis rectangular coordinate robot 2 connected with a hub bearing outer ring 7 is arranged on the other side of the rack 5.

The feeding mechanism 1 comprises a feeding turnover cylinder seat 103, as shown in fig. 3, a bearing i is installed at the center of the feeding turnover cylinder seat 103, an auxiliary turnover shaft 104 is installed on the bearing i, the auxiliary turnover shaft 104 penetrates through the left end of the bearing i and is connected with a first chain wheel 106 through a key, the first chain wheel 106 is connected with a second chain wheel 109 through a chain 107, the second chain wheel 109 is connected with a chain wheel shaft 110 through a key, the chain wheel seat 108 is fixed on the frame 5, two bearings ii are arranged at the center of the chain wheel seat 108, the chain wheel shaft 110 penetrates through the two bearings ii, the chain wheel shaft 110 drives a screw seat 111 through a key, a threaded hole is formed in the inner surface of the screw seat 111, a balance screw 112 is arranged in the threaded hole, a through hole i is formed in the center of the balance weight 113, one end of the balance screw 112 penetrates through the central through hole i of the balance weight 113 and extends to the outside, an external thread is formed on the outer surface of the balance screw 112, a shaft shoulder is arranged at a certain distance from the external thread, the counterbalance 113 is fixed by a nut 114 and a shoulder. The right side of the feeding overturning cylinder seat 103 is fixedly provided with a feeding overturning cylinder 102, the feeding overturning cylinder 102 is connected with an overturning adapter plate 115 through a flange, the right end of the auxiliary overturning shaft 104 is connected with the overturning adapter plate 115 through a key, and the overturning adapter plate 115 is connected with the left overturning side plate 101. The left overturning side plate 101 is connected with a right overturning side plate 119 through a clamping jaw fixing plate 118 and an overturning rib plate 121, and the right overturning side plate 119 is connected with a right overturning auxiliary plate 120 through a bolt bearing. Two sets of feeding flat-open mechanical clamping jaws are mounted on the clamping jaw fixing plate 118 and are composed of a feeding flat-open cylinder 117 and feeding clamping jaws 116, the feeding flat-open cylinder 117 drives the feeding clamping jaws 116 to perform clamping movement, 4 triangular clamping jaw baffles 122 are fixed on the upper surface and the lower surface of each feeding clamping jaw 116 respectively, and a retainer filled with balls is clamped. The adjusting stud 105 is fixed on the feeding clamping jaw 116, and the opening and closing stroke of the feeding flat-open air cylinder 117 can be changed according to the assembly of hub bearing outer rings 7 of different types. Each set of feeding flat-open mechanical clamping jaw is respectively matched with one auxiliary assembly table 3 for operation.

The horizontal motion of the XZ-axis cartesian robot 2 is achieved by driving the X-axis ball screw 210 by the X-axis motor 218, the vertical motion is achieved by driving the Z-axis ball screw 216 by the Z-axis motor 219, and the end effector is fixed to the Z-axis ball screw 216 through the right side of the adapter plate 220, as shown in fig. 4-5. The tail end executing mechanism comprises a rear clamping plate 201, a clamping seat 202, a positioning block 203, a turnover shaft 204, an assembling flat-open clamping cylinder 205, a cylinder connecting plate 206, a turnover shaft seat 207, a turnover cylinder seat 208, an adapter sleeve 209, a rectangular clamping block 211, a supporting plate 212, a V-shaped clamping block 213, a ball pin 214, a clamping plate 215, a turnover cylinder 217, an adapter plate 220 and a right clamping seat 221. The right side and the Z axle ball 216 fixed connection of adapter plate 220, the left side of adapter plate 220 links to each other with upset cylinder block 208, the back of upset cylinder block 208 is fixed with upset cylinder 217, the front of upset cylinder block 208 links to each other with the ring flange of upset axle block 207, the inside two bearings III that are equipped with of upset axle block 207, install trip shaft 204 on two bearings III, trip shaft 204 runs through upset axle block 208 and upset cylinder 217, the end of trip shaft 204 is square spline and cooperatees with the middle quad slit of adapter sleeve 209, adapter sleeve 209 is equipped with four equipartition holes and links to each other with the ring flange of upset cylinder 217. The flange of the turnover shaft 204 is fixedly connected with one side of the cylinder connecting plate 206, the other side of the cylinder connecting plate 206 is connected with the assembling flat-open clamping cylinder 205, two sliding blocks arranged on the assembling flat-open clamping cylinder 205 respectively drive the left and right rear clamping plates 201 to reciprocate leftwards and rightwards, the side faces of the left and right rear clamping plates 201 are respectively fixed with the left and right clamping plates 215, the positioning blocks 203 are respectively fixed below the left and right clamping plates 215, a rectangular groove is arranged between each clamping plate 215 and each positioning block 203, the left and right clamping seats 202 are respectively inserted into the two rectangular grooves, the clamping plates 215, the positioning blocks 203 and the clamping seats 202 are respectively provided with coaxial through holes, and the ball pins 214 penetrate through the three coaxial through holes to realize positioning. The upper surface and the lower surface of the left clamping seat 202 are respectively provided with a rectangular clamping block 211 and a supporting plate 212, the front part of the supporting plate 212 is provided with an arc-shaped notch for clamping the outer surface of the hub bearing outer ring 7, and the diameter of the arc-shaped notch is equal to the outer diameter of the clamping end of the hub bearing outer ring 7; the upper and lower surfaces of the right clamping seat 221 are respectively provided with a V-shaped clamping block 213 and a supporting plate 212, and the two supporting plates 212 positioned at the left and right sides have the same structure and are symmetrically arranged. The rectangular clamping blocks 211 and the supporting plate 212 positioned on the left side are respectively used for clamping the upper and lower outer surfaces of the left side of the flange of the hub bearing outer ring 7, and the V-shaped clamping blocks 213 and the supporting plate 212 positioned on the right side are respectively used for clamping the upper and lower outer surfaces of the right side of the flange of the hub bearing outer ring 7; the V-shaped clamp blocks 213 perform secondary positioning of the hub bearing outer race 7 during the clamping movement. The left clamping seat 202, the right clamping seat 212, the left supporting plate 212, the right supporting plate 212, the V-shaped clamping block 213 and the rectangular clamping block 211 which are different in size can be replaced according to automobile hub bearings of different models.

The auxiliary mount 3 includes a cushion seat 309, a first spring 310, a linear bearing 308, and a cushion guide shaft 307, as shown in fig. 6. Buffer seat 309 bottom shaping has through-hole II, and first spring 310 is placed in through-hole II in buffer seat 309, and buffer guiding axle 307 runs through first spring 310, and the shaft shoulder pressure is in first spring 310 upper end on buffer guiding axle 307, and buffer seat 309 side is equipped with the rectangle through-hole, and buffer guiding axle 307 side is equipped with a screw hole, and the bolt passes the rectangle through-hole of buffer seat 309 side and installs in the screw hole of buffer guiding axle 307 side, will cushion guiding axle 307 and buffer seat 309 fixed connection. The buffer guide shaft 307 is fitted to a shaft hole of the linear bearing 308, and the linear bearing 308 is connected to the buffer base 309 through a bolt passing through the table 4. The upper end of the buffer guide shaft 307 is provided with a positioning seat 306, a positioning support 301, a second spring 304, a pin shaft 303, a positioning washer 302 and a ball stud 305, an inner hole of the positioning seat 306 is provided with an upper inner shaft section, a middle inner shaft section and a lower inner shaft section, and a bolt penetrates through the middle inner shaft section and is connected with the upper end of the buffer guide shaft 307. The locating support 301 is provided with an upper shaft section, a middle shaft section and a lower shaft section, the lower shaft section is provided with a transverse through hole II, the upper inner shaft section of the locating seat 306 is provided with a transverse through hole I, the ball stud 305 transversely penetrates through the two transverse through holes, the upper surface of the shaft section of the locating support 301 is provided with a blind hole, a second spring 304 and a pin shaft 303 are placed inside the blind hole, and the pin shaft 303 penetrates through the second spring 304. The right end of the positioning washer 302 forms an included angle of 15 degrees with the horizontal plane, the left end is provided with a through hole III, and the pin shaft 303 penetrates through the through hole III.

The modulus of elasticity of the first spring 310 is greater than the modulus of elasticity of the second spring 304; when the pin 303 is subjected to a compressive force to compress the second spring 304, the upper surface of the pin 303 drops to be flush with the positioning washer 302.

Example 2

An assembling method of an automatic assembling machine for an automobile hub bearing outer ring assembly comprises the following steps:

the first step is as follows: the retainer 6 with the balls is conveyed to a feeding waiting position from the previous station; two feeding flat-open cylinders 117 of the feeding mechanism 1 respectively drive the feeding clamping jaws 116 to perform clamping movement, and clamp two holders 6 filled with balls.

The second step is that: the flange on the feeding overturning cylinder 102 is connected with an overturning adapter plate 115, the overturning adapter plate 115 is connected with the auxiliary overturning shaft 104 through a key, and the rotary motion of the feeding overturning cylinder 102 is transmitted to the auxiliary overturning shaft 104; the auxiliary turning shaft 104 transmits the rotary motion to the feeding turning manipulator of the feeding mechanism 1 respectively to realize the turning motion from 0 degree to 180 degrees, meanwhile, the auxiliary turning shaft 104 transmits the rotary motion to the chain wheel shaft 110 through the first chain wheel 106, the chain 107 and the second chain wheel 109, the chain wheel shaft 110 drives the balance block 113 to realize the rotation from 0 degree to-180 degrees, and the effect of balancing the self-weight influence of the feeding turning manipulator is achieved.

The third step: after the retainer 6 loaded with the balls is conveyed to the position right above the auxiliary assembly table 3, the two material flat-open cylinders 117 respectively drive the feeding clamping jaws 116 to perform loosening motion, and the retainer 6 loaded with the balls freely falls onto the auxiliary assembly table 3; after the feeding is finished, the feeding overturning cylinder 102 transmits the reverse rotation, the feeding overturning manipulator realizes the overturning motion from 180 degrees to 0 degree, returns to the initial position and waits for the next feeding work.

The fourth step: the XZ axis rectangular coordinate robot 2 is driven by the X axis motor 218 to reach the bearing outer ring material supply position, which is the position of the previous process flow; the clamping manipulator of the XZ axis rectangular coordinate robot 2 is driven by the Z axis motor 219 to move downwards, and after reaching a designated position, the clamping cylinder 205 is assembled and leveled to drive the clamping manipulator to clamp the hub bearing outer ring 7.

The fifth step: after being clamped, the outer ring 7 of the hub bearing is conveyed to the position right above the first auxiliary assembly table 3 by the XZ axis rectangular coordinate robot 2; the retainer 6 with the balls is jacked up by the second spring 304 in the initial state and is obliquely arranged at an angle of 15 degrees with the horizontal plane;

the XZ axis rectangular coordinate robot 2 clamps the outer ring 7 of the hub bearing and is driven by a Z axis motor 219 to move downwards for assembly; one end of the retainer 6 which is supported by the second spring 304 and is provided with the balls is firstly arranged in the hub bearing outer ring 7; in the process, the retainer 6 with the balls is obliquely arranged, and the balls are smooth and can automatically adjust the positions of the balls, so that the process can be smoothly finished without extrusion force;

after one end of the retainer 6 with the balls is arranged in the hub bearing outer ring 7, the hub bearing outer ring 7 continuously moves downwards, the elastic force of the second spring 304 is overcome, the retainer 6 with the balls tends to move horizontally from an inclined state, when a certain position is reached, extrusion force is required to act on the retainer 6 with the balls, the retainer 6 with the balls is deformed, the maximum outer diameter is smaller than the inner diameter of the hub bearing outer ring 7, the retainer can be continuously arranged, and the extrusion force in the process is provided by the first spring 310;

the 2 centre gripping wheel hub bearing outer lane 7 of XZ axle rectangular coordinate robot pushes down, buffering guiding axle 307 can move down the first spring of extrusion 310, push down gradually, the ascending extrusion force that first spring 310 provided can progressively increase, after the extrusion force is greater than a definite value, just can make the holder 6 of adorning the ball take place sufficient deformation, the holder 6 of adorning the ball can extrude wheel hub bearing outer lane 7 completely, accomplish the assembly of the first holder 6 of adorning the ball on the wheel hub bearing outer lane 7.

And a sixth step: hub bearing outer lane 7 is delivered to directly over the second auxiliary assembly platform 3 by XZ axle rectangular coordinate robot 2, upset cylinder 217 passes through switching cover 209 and transmits rotary motion for upset axle 204 and drives the centre gripping manipulator and realize 180 degrees upsets, with 7 another side down of hub bearing outer lane, the step of the fifth step of later repetition, hub bearing outer lane 7 is under the drive of XZ axle rectangular coordinate robot 2, accomplish the second on the hub bearing outer lane 7 and adorn the assembly of the holder 6 of ball.

The seventh step: the XZ axis rectangular coordinate robot 2 sends the automobile hub bearing outer ring assembly which is assembled to a transmission belt, and then sends the automobile hub bearing outer ring assembly to the next station, and then the XZ axis rectangular coordinate robot 2 returns to the initial position.

The method can be used for assembling hub bearing outer rings 7 with different models and sizes by replacing the left clamping seat 202, the right clamping seat 202, the left supporting plate 212, the right supporting plate 212, the V-shaped clamping block 213 and the rectangular clamping block 211 with different sizes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides an automobile wheel hub bearing inner race subassembly automatic assembly machine which characterized in that includes: the device comprises a feeding mechanism (1), an XZ-axis rectangular coordinate robot (2), at least two auxiliary assembly platforms (3), a workbench (4) and a rack (5), wherein the workbench (4) is arranged on the rack (5), the feeding mechanism (1) and the auxiliary assembly platforms (3) are sequentially arranged on the workbench (4) from back to front, and the XZ-axis rectangular coordinate robot (2) is arranged on the rack (5);

the feeding mechanism (1) is provided with a first turnover mechanism and a feeding turnover manipulator connected with the first turnover mechanism, the feeding turnover manipulator clamps a ball-loaded retainer (6) located at a feeding waiting position, the feeding turnover manipulator rotates through the first turnover mechanism, the ball-loaded retainer (6) is conveyed to the position right above the auxiliary assembly table (3), the feeding turnover manipulator loosens the ball-loaded retainer (6), and the ball-loaded retainer (6) freely falls onto the auxiliary assembly table (3);

the XZ-axis rectangular coordinate robot (2) is provided with a moving mechanism, a second turnover mechanism connected with the moving mechanism and a clamping manipulator connected with the second turnover mechanism, the clamping manipulator clamps a hub bearing outer ring (7) located at a bearing outer ring material supply position, the hub bearing outer ring (7) is conveyed to the position right above the auxiliary assembly table (3) through the moving mechanism and moves downwards, a retainer (6) filled with balls on the auxiliary assembly table (3) is assembled at one end of the hub bearing outer ring (7), the clamping manipulator is turned over by 180 degrees through the second turnover mechanism, and a second retainer (6) filled with balls is assembled at the other end of the hub bearing outer ring (7);

the auxiliary assembly table (3) comprises a buffer seat (309), a first spring (310), a linear bearing (308) and a buffer guide shaft (307);

a through hole II is formed in the bottom of the buffer seat (309), the first spring (310) is placed in the through hole II, the buffer guide shaft (307) penetrates through the first spring (310), a shaft shoulder arranged on the buffer guide shaft (307) is pressed at the upper end of the first spring (310), a rectangular through hole is formed in the side face of the buffer seat (309), a threaded hole is formed in the side face of the buffer guide shaft (307), a bolt penetrates through the rectangular through hole and is installed in the threaded hole, and the buffer guide shaft (307) is fixedly connected with the buffer seat (309);

the buffer guide shaft (307) is matched and connected with a shaft hole of the linear bearing (308), and the linear bearing (308) penetrates through the workbench (4) through a bolt to be connected with the buffer seat (309);

a positioning seat (306), a positioning support (301), a second spring (304), a pin shaft (303), a positioning washer (302) and a ball stud (305) are arranged at the upper end of the buffer guide shaft (307), an inner hole of the positioning seat (306) is provided with an upper inner shaft section, a middle inner shaft section and a lower inner shaft section, a bolt penetrates through the middle inner shaft section to be connected with the upper end of the buffer guide shaft (307), and the positioning seat (306) is fixedly connected with the buffer guide shaft (307); a transverse through hole I is formed in the upper inner shaft section of the positioning seat (306), the positioning support (301) is provided with an upper shaft section, a middle shaft section and a lower shaft section, a transverse through hole II is formed in the lower shaft section, and the ball stud (305) transversely penetrates through the transverse through hole I and the transverse through hole II; a blind hole is formed in the upper surface of the middle shaft section of the positioning support (301), the second spring (304) and the pin shaft (303) are placed in the blind hole, and the pin shaft (303) penetrates through the second spring (304); the right end of the positioning gasket (302) forms an included angle of 15 degrees with the horizontal plane, the left end of the positioning gasket is provided with a through hole III, and the pin shaft (303) penetrates through the through hole III;

the retainer (6) with the balls is jacked up by a second spring (304) in an initial state and is obliquely arranged at an angle of 15 degrees with the horizontal plane; the buffer guide shaft (307) moves downwards to press the first spring (310) to provide upward pressing force, and the retainer (6) filled with the balls is pressed into the hub bearing outer ring (7) under the minimum deformation, so that the inclined assembly is realized.

2. The automatic assembling machine for the automobile hub bearing outer ring assembly according to claim 1, wherein the first turnover mechanism comprises a left turnover side plate (101), a feeding turnover cylinder (102), a feeding turnover cylinder seat (103), an auxiliary turnover shaft (104), a first chain wheel (106), a chain (107), a chain wheel seat (108), a second chain wheel (109), a chain wheel shaft (110), a screw seat (111), a balance weight (113), a turnover adapter plate (115), a right turnover side plate (119) and a right turnover auxiliary plate (120);

a bearing I is installed at the center of the feeding turnover cylinder seat (103), the bearing I is provided with the auxiliary turnover shaft (104), the auxiliary turnover shaft (104) penetrates out of one end of the bearing I to be connected with the first chain wheel (106), the first chain wheel (106) is connected with the second chain wheel (109) through the chain (107), the second chain wheel (109) is connected with the chain wheel shaft (110), the chain wheel seat (108) is fixed on the rack (5), the center of the chain wheel seat (108) is provided with two bearings II, the chain wheel shaft (110) penetrates through the two bearings II, the chain wheel shaft (110) drives the screw seat (111) through key connection, the inner surface of the screw seat (111) is provided with a threaded hole, a balance screw (112) is arranged in the threaded hole, the center of the balance block (113) is provided with a through hole I, one end of the balance screw rod (112) penetrates through the through hole I and extends to the outside, an external thread is arranged on the outer surface of the balance screw rod (112), a shaft shoulder is arranged at a position away from the external thread by a certain distance, and the balance block (113) is fixed through a nut (114) and the shaft shoulder;

the right side of the feeding overturning cylinder seat (103) is fixedly provided with the feeding overturning cylinder (102), the feeding overturning cylinder (102) is connected with the overturning adapter plate (115), the other end of the auxiliary overturning shaft (104) is connected with the overturning adapter plate (115), the overturning adapter plate (115) is connected with the left overturning side plate (101), the left overturning side plate (101) is connected with the right overturning side plate (119) through a clamping jaw fixing plate (118) and an overturning rib plate (121), and the right overturning side plate (119) is connected with the right overturning auxiliary plate (120) through a bolt bearing;

the feeding turnover manipulator is mounted on the clamping jaw fixing plate (118).

3. The automatic assembling machine for the automobile hub bearing outer ring assembly according to claim 1 or 2, characterized in that the feeding turnover manipulator consists of at least two sets of feeding flat-open mechanical clamping jaws, each feeding flat-open mechanical clamping jaw consists of a feeding flat-open cylinder (117) and a feeding clamping jaw (116) connected with the feeding flat-open cylinder (117), the feeding flat-open cylinder (117) drives the feeding clamping jaws (116) to perform clamping movement, 4 triangular clamping jaw baffles are fixed on the upper surface and the lower surface of each feeding clamping jaw (116) respectively and used for clamping a retainer (6) filled with balls, an adjusting flat-open stud (105) is fixed on each feeding clamping jaw (116), and the opening and closing stroke of the feeding flat-open cylinder (117) is changed according to assembling different types of hub bearing outer rings (7);

each set of feeding flat-open mechanical clamping jaw is respectively matched with one auxiliary assembly table (3) for operation.

4. The automatic assembling machine for the automobile hub bearing outer ring assembly according to claim 1, characterized in that the moving mechanism consists of an X-axis ball screw (210), a Z-axis ball screw (216), an X-axis motor (218) arranged at the end of the X-axis ball screw (210) and a Z-axis motor (219) arranged at the end of the Z-axis ball screw (216), and is used for realizing horizontal movement or vertical movement of the second turnover mechanism and the clamping manipulator; the second turnover mechanism is fixed on the Z-axis ball screw (216) through an adapter plate (220);

the horizontal movement is realized by the X-axis motor (218) driving the X-axis ball screw (210), and the vertical movement is realized by the Z-axis motor (219) driving the Z-axis ball screw (216).

5. The automatic assembling machine for the automobile hub bearing outer ring assembly according to claim 1 or 4, wherein the second turnover mechanism comprises a turnover shaft (204), a turnover shaft seat (207), a turnover cylinder seat (208), an adapter sleeve (209), a turnover cylinder (217) and an adapter plate (220);

the right side of the adapter plate (220) is fixedly connected with the moving mechanism, the left side of the adapter plate (220) is connected with the overturning cylinder seat (208), the back of the overturning cylinder seat (208) is fixedly provided with the overturning cylinder (217), and the front of the overturning cylinder seat (208) is connected with the overturning shaft seat (207); two bearings III are arranged inside the overturning shaft seat (207), the overturning shaft (204) is mounted on the two bearings III, and the overturning shaft (204) penetrates through the overturning shaft seat (207) and the overturning cylinder (217); the tail end of the turnover shaft (204) is provided with a square spline, the square spline is matched with a square hole in the middle of the adapter sleeve (209), and four uniformly distributed holes formed in the adapter sleeve (209) are connected with a flange plate of the turnover cylinder (217);

the head end of the turnover shaft (204) is connected with the clamping manipulator.

6. The automatic assembling machine for the automobile hub bearing outer ring assembly according to claim 5, wherein the clamping manipulator comprises a rear clamping plate (201), a clamping seat (202), an assembling flat-open clamping cylinder (205), a cylinder connecting plate (206) and a right clamping seat (221);

one side of the cylinder connecting plate (206) is fixedly connected with the head end of the turnover shaft (204), the other side of the cylinder connecting plate is connected with the assembling flat-open clamping cylinder (205), the assembling flat-open clamping cylinder (205) is provided with two sliding blocks which respectively drive the left and right back splints (201) to reciprocate leftwards and rightwards, the side surfaces of the left and right back splints (201) are respectively fixed with a left splint and a right splint (215), positioning blocks (203) are respectively fixed below the left and right splints (215), a rectangular groove is arranged between each splint (215) and the positioning block (203), the left and right clamping seats (202) are respectively inserted into the two rectangular grooves, coaxial through holes are respectively formed in the clamping plate (215), the positioning block (203) and the clamping seat (202), ball pins (214) are connected in the three through holes together, and the ball pins (214) penetrate through the three through holes to realize positioning;

the upper surface and the lower surface of the clamping seat (202) on the left side are respectively provided with a rectangular clamping block (211) and a supporting plate (212), the front part of the supporting plate (212) is provided with an arc-shaped notch for clamping the outer surface of the hub bearing outer ring (7), and the diameter of the arc-shaped notch is equal to the outer diameter of the clamping end of the hub bearing outer ring (7); the upper surface and the lower surface of the right clamping seat (221) are respectively provided with a V-shaped clamping block (213) and a supporting plate (212), and the two supporting plates (212) positioned at the left side and the right side have the same structure and are symmetrically arranged; the rectangular clamping blocks (211) and the supporting plate (212) positioned on the left side are respectively used for clamping the upper and lower outer surfaces of the left side of a flange plate of the hub bearing outer ring (7), and the V-shaped clamping blocks (213) and the supporting plate (212) positioned on the right side are respectively used for clamping the upper and lower outer surfaces of the right side of the flange plate of the hub bearing outer ring (7); and the V-shaped clamping block (213) performs secondary positioning on the hub bearing outer ring (7) in the clamping movement process.

7. The automatic assembling machine for the automobile hub bearing outer ring assembly according to claim 6, wherein the left and right clamping seats (202), the left and right supporting plates (212), the rectangular clamping blocks (211) and the V-shaped clamping blocks (213) with different sizes can be replaced according to different types of automobile hub bearings.

8. The automatic assembling machine for automobile hub bearing outer ring assemblies according to claim 1, wherein the elastic modulus of the first spring (310) is greater than that of the second spring (304);

when the pin shaft (303) bears pressure to compress the second spring (304), the upper surface of the pin shaft (303) is lowered to be flush with the positioning gasket (302).

9. An assembling method of an automatic assembling machine for automobile hub bearing outer ring assemblies according to any claim 1-8, characterized by comprising the following steps:

s1, the retainer (6) with the balls is conveyed to a feeding waiting position from the previous station; feeding flat-open cylinders (117) on the feeding mechanism (1) respectively drive feeding clamping jaws (116) to perform clamping movement to clamp a retainer (6) filled with balls;

s2, connecting a feeding overturning cylinder (102) with an overturning adapter plate (115), connecting the overturning adapter plate (115) with an auxiliary overturning shaft (104), and transmitting the rotation motion of the feeding overturning cylinder (102) to the auxiliary overturning shaft (104);

the auxiliary turning shaft (104) transmits the rotary motion to the feeding turning manipulator respectively to realize the turning motion from 0 degree to 180 degrees, meanwhile, the auxiliary turning shaft (104) transmits the rotary motion to the chain wheel shaft (110) through the first chain wheel (106), the chain (107) and the second chain wheel (109), the chain wheel shaft (110) drives the balance block (113) to realize the rotation from 0 degree to-180 degrees, and the effect of balancing the self-weight influence of the feeding turning manipulator is achieved;

s3, after the retainer (6) filled with the balls is conveyed to the position right above the auxiliary assembly table (3) through a feeding turnover manipulator, two material flat-open cylinders respectively drive a feeding clamping jaw (116) to perform loosening motion, and the retainer (6) filled with the balls freely falls onto the auxiliary assembly table (3);

after the feeding is finished, the feeding overturning cylinder (102) transmits reverse rotation, the feeding overturning manipulator realizes 180-0-degree overturning motion, returns to the initial position and waits for the next feeding work;

s4, the XZ axis rectangular coordinate robot (2) is driven by the X axis motor (218) to reach the bearing outer ring material supply position, and the bearing outer ring material supply position is the position of the previous process flow; the clamping manipulator is driven by a Z-axis motor (219) to move downwards, and after reaching a designated position, a flat-open clamping cylinder (205) is assembled to drive the clamping manipulator to clamp the outer ring (7) of the hub bearing;

s5, after being clamped, the hub bearing outer ring (7) is conveyed to the position right above the first auxiliary assembly table (3) by the XZ axis rectangular coordinate robot (2); the retainer (6) with the balls is jacked up by a second spring (304) in an initial state and is obliquely arranged at an included angle of 15 degrees with the horizontal plane;

the XZ-axis rectangular coordinate robot (2) clamps the outer ring (7) of the hub bearing and is driven by a Z-axis motor (219) to move downwards for assembly; one end of the retainer (6) which is supported by the second spring (304) and is provided with the balls is firstly arranged in the outer ring (7) of the hub bearing, and in the process, the retainer (6) provided with the balls is obliquely arranged, and the balls are smooth, so that the position of the balls can be automatically adjusted, and the process can be smoothly finished without extrusion force;

after one end of the retainer (6) provided with the balls is arranged in the hub bearing outer ring (7), the hub bearing outer ring (7) continues to move downwards, the elastic force of the second spring (304) can be overcome, the retainer (6) provided with the balls tends to move from an inclined state to a horizontal state, when a certain position is reached, extrusion force is required to act on the retainer (6) provided with the balls, the retainer (6) provided with the balls is deformed, the requirement that the maximum outer diameter is smaller than the inner diameter of the hub bearing outer ring (7) is met, the retainer can be continuously arranged, and the extrusion force in the process is provided by the first spring (310);

the XZ-axis rectangular coordinate robot (2) clamps a hub bearing outer ring (7) to press downwards, a buffer guide shaft (307) moves downwards to extrude a first spring (310) to press downwards gradually, upward extrusion force provided by the first spring (310) can be increased gradually, when the extrusion force is greater than a certain value, a retainer (6) provided with balls is deformed sufficiently, the retainer (6) provided with the balls can be completely extruded into the hub bearing outer ring (7), and the assembly of a first retainer (6) provided with the balls on the hub bearing outer ring (7) is completed;

s6, conveying the hub bearing outer ring (7) to the position right above a second auxiliary assembly table (3) by an XZ axis rectangular coordinate robot (2), transmitting rotary motion to a turning shaft (204) through a switching sleeve (209) by a turning cylinder (217) to drive a clamping manipulator to turn 180 degrees, facing the other side of the hub bearing outer ring (7) downwards, and then repeating the step S5, wherein the hub bearing outer ring (7) is driven by the XZ axis rectangular coordinate robot (2) to complete the assembly of a second ball-loaded retainer (6) on the hub bearing outer ring (7);

s7, the XZ axis rectangular coordinate robot (2) sends the automobile hub bearing outer ring (7) assembly which is assembled to a transmission belt, and then sends the automobile hub bearing outer ring assembly to the next station, and then the XZ axis rectangular coordinate robot (2) returns to the initial position.