CN113369862A

CN113369862A - Automatic press-fitting system and assembling method for ball screw pair bearing

Info

Publication number: CN113369862A
Application number: CN202110779935.4A
Authority: CN
Inventors: 门广强; 马俊; 王凯; 任宏; 程建安; 刘杰
Original assignee: Beijing Machinery Equipment Research Institute
Current assignee: Beijing Machinery Equipment Research Institute
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2021-09-10
Anticipated expiration: 2041-07-09
Also published as: CN113369862B

Abstract

The invention relates to an automatic press-fitting system and an assembling method for a ball screw auxiliary bearing, belongs to the technical field of automatic assembly, and solves the problems that the ball screw auxiliary bearing is easy to be installed in place and poor in installing precision consistency during assembly in the prior art. An automatic press-fitting system for a ball screw pair bearing, comprising: the device comprises a slide rail mechanism, a slide clamp, a press-fitting mechanism, a bearing bin and a four-axis robot; the four-axis robot can grab the bearing from the bearing bin; the sliding clamp is arranged on the sliding rail mechanism and can slide along the sliding rail mechanism; the sliding clamp is used for loading and positioning the ball screw pair and the bearing; the press mounting mechanism is arranged above the sliding rail mechanism, and a magnetic pressure head is arranged on the press mounting mechanism; the magnetic pressure head can adsorb the bearing; the press-fitting mechanism can drive the magnetic pressure head to move downwards; when the magnetic pressure head moves downwards, the bearing can be pressed on the ball screw pair. The invention realizes the automatic press mounting of the ball screw pair bearing, ensures the press mounting precision and consistency and improves the assembly efficiency.

Description

Automatic press-fitting system and assembling method for ball screw pair bearing

Technical Field

The invention relates to the technical field of automatic assembly, in particular to an automatic press-fitting system and an assembly method for a ball screw pair bearing.

Background

The ball screw pair bearing is used as one of transmission elements of a mechanical structure, and is very commonly applied to various fields of transportation industry, aerospace, military products and the like. The ball screw pair bearing is composed of a screw, a bearing and a nut, as shown in fig. 1. At present, the mode of installing bearings on two sides of a nut is manual press-fitting, a ball screw pair (composed of a screw rod and a nut) is fixed through a simple tool, the bearings and the mounting columns on two sides of the nut are axially centered respectively, and the installation of the bearings and the mounting columns of the nut is realized through manual knocking.

The existing bearing assembling method mainly comprises manual press-fitting, hot-fitting, cold-fitting and the like. The manual installation is through simple and easy frock, with bearing and nut both sides erection column axial centering, strikes and then realizes the installation of bearing and nut erection column through the manual work, and the precision, the stability of pressure equipment are not good and pressure equipment inefficiency. The hot charging is a method for converting close fit into loose fit by utilizing thermal expansion, but the hot charging needs to strictly control the heating temperature so as to prevent the installed parts from generating tempering effect. The cold mounting method is that the size of the mounted part is reduced when the mounted part is cooled in a low-temperature environment, the temperature needs to be controlled well, otherwise, the internal structure of the mounted part is changed, and the size stability of the mounted part is further influenced.

Therefore, a mechanical full-automatic press-fitting device is needed to be provided, so that the automatic press-fitting of the whole process of the bearing is realized, the press-fitting force and the press-fitting stroke are controllable, the stability of the press-fitting process and the consistency of the press-fitting state are ensured, the appearance damage of the bearing is avoided, and the press-fitting efficiency is improved.

Disclosure of Invention

In view of the above analysis, the present invention aims to provide an automatic press-fitting system and an assembling method for a ball screw pair bearing, so as to solve the problems that the appearance damage is easily caused by the impact of hammering on a shaft when the bearing is knocked and installed by adopting a manual press-fitting method, and the bearing is easily installed in a non-position due to a relatively small stressed area, has poor installation accuracy consistency, and cannot be suitable for the mass production of bearing press-fitting.

The purpose of the invention is mainly realized by the following technical scheme:

an automatic press-fitting system for a ball screw pair bearing, comprising: the device comprises a slide rail mechanism, a slide clamp, a press-fitting mechanism, a bearing bin and a four-axis robot; the four-axis robot can grab the bearing from the bearing bin; the sliding clamp is arranged on the sliding rail mechanism and can slide along the sliding rail mechanism; the sliding clamp is used for loading and positioning the ball screw pair and the bearing; the press mounting mechanism is arranged above the sliding rail mechanism, and a magnetic pressure head is arranged on the press mounting mechanism; the magnetic pressure head can adsorb the bearing; the press-fitting mechanism can drive the magnetic pressure head to move downwards; when the magnetic pressure head moves downwards, the bearing can be pressed on the ball screw pair.

Further, the slide rail mechanism includes: the linear guide rail, the slide block and the driving motor; the slide block is slidably arranged on the linear guide rail; the driving motor can drive the sliding block to slide along the linear guide rail.

Further, the slide jig includes: the positioning plate, the bearing positioning pin and the screw pair positioning block; the positioning plate is fixedly connected with the sliding block or is of an integral structure; the bearing positioning pin and the screw pair positioning block are arranged on the positioning plate in parallel.

Furthermore, the screw pair positioning block can slide relative to the positioning plate; four position adjusting blocks are arranged around the screw pair positioning block; the position adjusting block is fixedly arranged on the positioning plate; the position adjusting block is provided with a threaded hole, and an adjusting screw rod is arranged in the threaded hole; the end part of the adjusting screw rod is propped against the side surface of the screw rod pair positioning block.

Further, the press-fitting mechanism includes: the servo electric cylinder, the mounting plate and the magnetic pressure head; the mounting plate is arranged above the sliding rail mechanism; the servo electric cylinder is fixedly arranged on the mounting plate; the output end of the servo electric cylinder penetrates through the mounting plate to be fixedly connected with the magnetic pressure head.

Further, the press-fitting mechanism further includes: a guide post and a connecting plate; the connecting plate is arranged below the mounting plate and is parallel to the mounting plate; the magnetic pressure head is fixedly arranged on the connecting plate, one end of the guide post is fixedly connected with the connecting plate, and the other end of the guide post penetrates through the mounting plate and is in sliding fit with the mounting plate.

Further, the automatic press fitting system of ball screw pair bearing still includes: a lead screw pair positioning mechanism; the screw pair positioning mechanisms are symmetrically arranged on two sides of the linear guide rail.

Further, screw pair positioning mechanism includes: the device comprises a cylinder, a mounting seat and a mandril; the mounting seat is fixedly arranged on a bottom plate of the automatic press-fitting system of the ball screw pair bearing; the air cylinder is fixedly installed on the installation seat, the output end of the air cylinder penetrates through the installation seat to be fixedly connected with the ejector rod, and the ejector rod is used for ejecting the side face of the ball screw pair to position the ball screw pair.

Further, the bearing feed bin includes: the device comprises a bin cylinder, a first bin cylinder and a second bin cylinder; the side surface of the material bin barrel is provided with a U-shaped hole, and the bottom of the material bin barrel is provided with a bearing outlet; a plurality of bearings are stored in an inner cavity of the feed bin cylinder, the first feed bin cylinder is vertically arranged below the feed bin cylinder, the second feed bin cylinder is horizontally arranged on one side of the feed bin cylinder, and the second feed bin cylinder can compress the bearing which is the second last in the feed bin cylinder.

An automatic press-fitting assembly method for a ball screw pair bearing adopts an automatic press-fitting system for the ball screw pair bearing to assemble the ball screw pair and the bearing, and comprises the following steps:

step S1: driving the sliding clamp to slide to a first station along the linear guide rail; placing the ball screw pair on a screw pair positioning block of the sliding clamp; taking out a bearing from the bearing bin, and placing the bearing on a bearing positioning pin of the sliding clamp;

step S2: driving the sliding clamp to slide to a second station along the linear guide rail, and axially aligning the bearing positioning pin with a magnetic pressure head of the press-mounting mechanism; the press-mounting mechanism drives the magnetic pressure head to move downwards to adsorb the bearing on the bearing positioning pin;

step S3: driving the sliding clamp to slide to a third station along the linear guide rail, and axially aligning the ball screw pair on the screw pair positioning block with the bearing in the magnetic pressure head; the press-fitting mechanism drives the magnetic pressure head to move downwards, and the bearing is pressed and fitted on the ball screw pair.

The technical scheme of the invention can at least realize one of the following effects:

1. according to the automatic press-fitting system for the ball screw pair bearing, the ball screw pair is positioned through the sliding clamp and the screw pair positioning mechanism at a normal temperature, then the bearing is adsorbed and positioned through the press-fitting mechanism, the press-fitting of the bearing is realized through automatic centering of the bearing and mounting columns on two sides of the nut, the temperature does not need to be adjusted in the press-fitting process, the downward pressure of the press-fitting mechanism directly acts on the end face of the bearing, and due to the fact that the contact area is relatively large, the bearing is uniformly stressed, the bearing is stably pressed at a constant speed, and the bearing is guaranteed to be pressed in place at one time, and is not damaged in appearance, and is guaranteed to be pressed accurately and consistently after press-fitting.

2. The ball screw pair is positioned in the horizontal direction and the longitudinal direction through the sliding clamp and the screw pair positioning mechanism, so that the bearing is pressed and mounted in place at one time, the rotation is flexible, the appearance is not damaged, the pressing precision is consistent, and the mounting efficiency of the ball bearing is greatly improved.

3. The press-mounting mechanism adsorbs the bearing, and press-mounting of the bearing is realized through automatic centering of the bearing and the ball screw pair.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

FIG. 1 is a ball screw assembly;

FIG. 2 is an automatic press-fitting system for a ball screw assembly according to an embodiment of the present invention;

fig. 3 shows a state of the slide clamp of the automatic press-fitting system for a ball screw pair bearing according to an embodiment of the present invention in the first working position;

fig. 4 is a schematic structural view of a press-fitting mechanism of the automatic press-fitting system for a ball screw pair bearing according to an embodiment of the present invention;

FIG. 5 is a schematic view of the slide fixture and the positioning mechanism of the screw assembly of the automatic press-fitting system for a ball screw assembly bearing according to an embodiment of the present invention;

fig. 6 shows a state in which the slide jig of the automatic press-fitting system for a ball screw pair bearing according to an embodiment of the present invention is located at a first working position;

fig. 7 shows a state in which the slide jig of the automatic press-fitting system for a ball screw pair bearing according to an embodiment of the present invention is located at a second working position;

FIG. 8 is a schematic view of a magnetic head structure;

FIG. 9 is a schematic view of a bearing bin structure;

FIG. 10 is a schematic view of a discharge state of a bearing bin;

figure 11 is a side view of a bearing cartridge.

Reference numerals:

1-a ball screw pair; 2-a bearing; 3-a bottom plate; 4-a slide rail mechanism; 5-a sliding clamp; 6-a press-fitting mechanism; 7-a lead screw pair positioning mechanism; 8-a bearing bin; 9-four-axis robot;

41-linear guide rail; 42-a slide block; 43-a drive motor;

51-a positioning plate; 52-bearing locating pins; 53-screw pair positioning block; 54-a position adjustment block; 55-adjusting the screw;

61-servo electric cylinder; 62-a guide post; 63-mounting a plate; 64 connecting plates; 65-magnetic indenter;

651-magnet mounting groove; 652-bearing pockets; 653-tapered guide grooves;

71-a cylinder; 72-a mounting seat; 73-a mandril;

81-a silo; an 82-U shaped aperture; 83-bearing outlet; 84-a bin base; 85-a first bin cylinder; 86-a second bin cylinder; 87-a third silo cylinder; 88-pallet.

Detailed Description

The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.

Example 1

As shown in fig. 1, a bearing 2 needs to be installed at an end of the ball screw assembly 1, and the screw end of the ball screw assembly and the bearing 2 are installed in an interference fit manner. The automatic press-fitting system for the ball screw pair bearing is used for automatically press-fitting the bearing onto the ball screw pair 1.

The invention discloses an automatic press-fitting system of a ball screw pair bearing, which comprises: the device comprises a slide rail mechanism 4, a slide clamp 5, a press-fitting mechanism 6 and a lead screw pair positioning mechanism 7. The sliding clamp 5 is used for loading and positioning the bearing 2 and the ball screw pair 1, and the sliding clamp 5 is arranged on the sliding rail mechanism 4 and can be driven to slide through the sliding rail mechanism 4; the press-mounting mechanism 6 is erected above the slide rail mechanism 4; the press-fitting mechanism 6 is provided with a servo electric cylinder 61 and a magnetic pressure head 65, the magnetic pressure head 65 can adsorb the bearing, the servo electric cylinder 61 can drive the magnetic pressure head 65 to move up and down, and when the magnetic pressure head 65 is pressed down, the bearing 2 can be press-fitted on the ball screw assembly 1 on the sliding clamp 5.

In a specific embodiment of the present invention, the slide rail mechanism 4 is disposed on the bottom plate 3, and the slide rail mechanism 4 includes: a driving motor 43, a linear guide rail 41 and a slider 42; the sliding block 42 is slidably mounted on the linear guide 41, that is, the sliding block 42 is provided with a sliding groove, and the sliding groove is in sliding fit with the linear guide 41, so that the sliding block 42 can slide relative to the linear guide 41. The driving motor 43 can output linear displacement, the driving motor 43 is connected with the sliding block 42, and the driving motor 43 is used for driving the sliding block 42 to slide on the linear guide rail 41.

Furthermore, the slide block 42 is provided with the slide clamp 5, and when the slide block 42 slides on the linear guide rail 41, the slide clamp 5 can be driven to synchronously slide. The slide jig 5 slides on the linear guide 41 to adjust the position. Photoelectric sensors are provided at the end or both sides of the linear guide 41 to detect whether the slide jig 5 is moved in place. In implementation, the sliding fixture 5 slides along the linear guide rail 41 under the driving of the driving motor 43, the two sets of screw pair positioning mechanisms 7 are symmetrically installed on two sides of the linear guide rail 41, the ball screw pair 1 is radially positioned and clamped, and the press-fitting mechanism 6 is arranged above the sliding rail mechanism 4, and can press-fit the bearing 2 onto the ball screw pair 1 on the sliding fixture 5.

Further, the automatic press-fitting system for the ball screw pair bearing of the present invention further comprises: a bearing bin 8 and a four-axis robot 9, as shown in fig. 2.

Further, the bearing cartridge 8 includes: a silo cylinder 81, a silo base 84, a first silo cylinder 85 and a second silo cylinder 86; wherein, a plurality of bearings 2 are stored in the feed bin section of thick bamboo 81 of fixed mounting in the top of feed bin base 84 in the feed bin section of thick bamboo 81. The bin base 84 is an L-shaped structure having a bottom plate and side plates; a second bin cylinder 86 is fixedly mounted on a side plate of the bin base 84.

As shown in fig. 9 to 11, a U-shaped hole 82 is formed in a side surface of the bin cylinder 81, a bearing outlet 83 is formed in a bottom of the bin cylinder 81, a first bin cylinder 85 is arranged below the bin cylinder 81, the first bin cylinder 85 is vertically arranged, and a telescopic shaft of the first bin cylinder 85 supports the bearing 2 at the lowest portion in the bin cylinder 81 at the bottom.

Further, the second bin cylinder 86 is horizontally disposed, and the telescopic shaft of the second bin cylinder 86 can pass through the U-shaped hole 82 to contact the bearing 2. When the telescopic shaft of the second bin cylinder 86 extends out, the bearing 2 which is positioned at the penultimate bottom of the bin cylinder 81 can be propped against, the bearings 2 which are positioned at more than the penultimate bottom in the bin cylinder 81 are all supported by the penultimate bearings 2, and at the moment, the penultimate bearings 2 are not subjected to lateral force.

Further, after the telescopic shaft of the first bin cylinder 85 is contracted, the bearing 2 at the bottom of the bin cylinder 81, which is the last bearing, falls out of the bearing outlet 83 at the bottom of the bin cylinder 81.

Further, a support plate 88 is fixedly connected above the telescopic shaft of the first bin cylinder 85, and the support plate 88 can support the bearing 2. When the second bin cylinder 86 abuts against the penultimate bearing 2, the penultimate bearing 2 is supported by the supporting plate 88, and when the telescopic shaft of the first bin cylinder 85 contracts, the bearing 2 on the supporting plate 88 synchronously descends, as shown in fig. 10.

Further, a third bin cylinder 87 is further disposed on a side plate of the bin base 84, and the third bin cylinder 87 is horizontally disposed and located below the second bin cylinder 86. Specifically, as shown in fig. 10, when the supporting plate 88 is lowered to be flush with the bearing positioning pin 52 on the slide jig 5, and the edge of the supporting plate 88 is close to the bearing positioning pin 52, the telescopic shaft of the third bin cylinder 87 is extended, and the telescopic shaft of the third bin cylinder 87 can push the bearing 2 to slide from the supporting plate 88 and fall onto the bearing positioning pin 52 on the slide jig 5.

When in implementation:

as shown in fig. 9, when the support plate 88 contacts the bearing outlet 83 at the bottom of the cartridge 81, the support plate 88 can support the bearing 2 in the cartridge 81.

As shown in fig. 10, when the second magazine cylinder 86 abuts against the penultimate bearing 2, the penultimate bearing 2 of the first magazine is held by the support plate 88 and the first magazine cylinder 85, the penultimate bearing 2 is fixed to the side wall of the magazine cylinder 81 by the second magazine cylinder 86, and the bearings 2 more than the penultimate bearing are held by the penultimate bearing 2. At this time, the first bin cylinder 85 drives the supporting plate 88 to move downwards, the penultimate bearing 2 moves downwards synchronously, and the penultimate bearing 2 is supported by the second bin cylinder 86. When the supporting plate 88 descends to be flush with the bearing positioning pin 52 on the sliding fixture 5, the telescopic shaft of the third bin cylinder 87 extends out, and the telescopic shaft of the third bin cylinder 87 can push the bearing 2 to slide from the supporting plate 88 to the bearing positioning pin 52 on the sliding fixture 5.

After the bearing 2 is loaded once, the first bin cylinder 85 drives the supporting plate 88 to move upwards to contact with the bottom of the bin cylinder 81, at the moment, the telescopic shaft of the second bin cylinder 86 retracts, all the bearings 2 in the bin cylinder 81 fall down freely under the action of self gravity, and are supported by the supporting plate 88 after falling to the supporting plate 88, and when the bearings need to be taken again, the steps are repeated.

In one embodiment of the present invention, the structures of the slide jig 5 and the screw pair positioning mechanism 7 and the mounting positions on the linear guide 41 are shown in fig. 5.

As shown in fig. 5, the slide jig 5 has a structure in which: a positioning plate 51, a bearing positioning pin 52, a screw pair positioning block 53, a position adjusting block 54 and an adjusting screw 55. Wherein, the positioning plate 51 is slidably mounted on the linear guide 41, specifically, the positioning plate 51 is fixedly connected with the slider 42 or is an integral structure. The slide jig 5 can be slid along the linear guide 41 by the driving of the driving motor 43.

Further, a bearing positioning pin 52 is fixedly disposed on the positioning plate 51 for loading the positioning bearing 2, a screw pair positioning block 53 is fixedly disposed on the positioning plate 51, and the screw pair positioning block 53 is disposed on the right side of the bearing positioning pin 52, as shown in fig. 5.

Furthermore, a positioning hole for positioning the screw pair is formed in the screw pair positioning block 53, the diameter of the positioning hole is the same as that of a screw of the ball screw pair, and the ball screw pair can be vertically installed in the positioning hole.

Further, the ball screw assembly 1 is vertically placed in the positioning hole to achieve positioning, position adjusting blocks 54 fixedly mounted on the positioning plate 51 are respectively arranged on the periphery of the screw assembly positioning block 53, threaded holes are formed in the position adjusting blocks 54, the adjusting screw 55 penetrates through the threaded holes to abut against the side face of the screw assembly positioning block 53, and the mounting position of the screw assembly positioning block 53 on the positioning plate 51 can be adjusted and prevented from rotating in the working process by rotating the adjusting screw 55. Specifically, the position adjustment blocks 54 are four and are disposed around the screw pair positioning block 53, as shown in fig. 5.

Further, a screw pair positioning mechanism 7 is further installed on both sides of the linear guide rail 41, as shown in fig. 5. The screw pair positioning mechanisms 7 are symmetrically arranged on two sides of the linear guide rail 41.

The screw pair positioning mechanism 7 includes: cylinder 71, mount 72, and ram 73. The mounting seat 72 is fixedly mounted on the bottom plate 3, the air cylinder 71 is horizontally mounted on the mounting seat 72, the output end of the air cylinder 71 penetrates out of the mounting seat 72 and is fixedly connected with one end of the ejector rod 73, and the other end of the ejector rod 73 can abut against the circumferential surface of the lower portion of the ball screw pair 1 and is used for performing radial auxiliary positioning on the ball screw pair 1. In the implementation process, the air cylinder 71 drives the push rod 73 to extend forwards to abut against the side surface of the ball screw pair 1, and the two side screw pair positioning mechanisms 7 simultaneously abut against the two sides of the ball screw pair 1, so that the auxiliary positioning of the ball screw pair 1 in the direction perpendicular to the linear guide rail 41 is realized.

In one embodiment of the invention, the press-fitting mechanism 6 is used to press-fit the bearing onto the screw of the ball screw assembly 1. The press-fitting mechanism 6 includes: servo cylinder 61, guide post 62, mounting plate 63, connecting plate 64 and magnetic head 65, as shown in fig. 4.

As shown in fig. 8, the magnetic ram 65 is provided with a magnet mounting groove 651, and a magnet is fixedly mounted in the magnet mounting groove 651, so that the magnet can attract the bearing 2 on the bearing positioning pin 52 by its own magnetic force. The magnetic pressure head 65 is provided with a bearing clamping groove 652, and after the magnet adsorbs the bearing 2, the bearing 2 is clamped into the bearing clamping groove 662. Or, the bearing 2 is clamped in the bearing clamping groove 652 and is attracted and fixed by the magnet. Further, the inner diameter of the bearing clamping groove 652 is the same as the outer diameter of the bearing 2, so that the bearing 2 can be smoothly clamped into the bearing clamping groove 652, a tapered guide groove 653 is arranged on the end face of the magnetic pressure head 65, the tapered guide groove 653 is communicated with the bearing clamping groove 652, the diameter of a large port of the tapered guide groove 653 is larger than that of a small port, the diameter of a small port of the tapered guide groove 653 is equal to that of the bearing clamping groove 652, and the tapered guide groove 653 is used for guiding the bearing 2 to be smoothly clamped into the bearing clamping groove 652.

Further, the servo electric cylinder 61 is a modularized product in which a servo motor and a lead screw are integrally designed, and converts the rotational motion of the servo motor into linear motion, thereby realizing precise position control and precise thrust control. The servo electric cylinder 61 is used for driving the magnetic pressure head 65 to move up and down, and when the servo electric cylinder 61 drives the bearing to move down, the bearing can be pressed on the nut 2 of the ball screw pair.

In one embodiment of the present invention, the mounting plate 63 is fixedly mounted above the slide rail mechanism 4. Specifically, the mounting plate 63 is higher than the slide rail mechanism 5, and the mounting plate 63 is fixedly mounted directly above the slide rail mechanism 4 through four support columns.

Further, the guide post 62 is used for guiding the displacement of the magnetic pressure head 65, so that the press-fitting precision of the bearing is ensured. There are a plurality of guide posts 62, and each of the plurality of guide posts 62 is slidably mounted to the mounting plate 63, i.e., the guide posts 62 are capable of sliding relative to the mounting plate 63.

Further, as shown in fig. 4, the connection plate 64 is disposed below the mounting plate 63, and the connection plate 64 is parallel to the mounting plate 63; the guide posts 62 pass through the mounting plate 63 and are fixedly connected with the connecting plate 64. Or, one end of the guide post 62 is fixedly connected with the connecting plate 64, and the other end thereof passes through the mounting plate 63 and can slide relative to the mounting plate 63. Magnetic pressure head 65 fixed mounting is on connecting plate 64, and servo electric cylinder 61 fixed mounting is on mounting panel 63, and the output of servo electric cylinder 61 passes one side fixed connection of mounting panel 63 with connecting plate 65, can drive connecting plate 65 for mounting panel 63 linear displacement through servo electric cylinder 61, and then drives magnetic pressure head 65 and reciprocates, and guides through guide post 62 when magnetic pressure head 65 reciprocates, guarantees the precision of the direction that moves down.

Furthermore, a first auxiliary positioning column and a second auxiliary positioning column are respectively arranged on the connecting plate 64 and the sliding fixture 5, wherein the second auxiliary positioning column is provided with a hollow auxiliary positioning hole, and when the servo electric cylinder 61 drives the connecting plate 64 to move downwards during the press mounting of the bearing 2, the first auxiliary positioning column can be inserted into the auxiliary positioning hole of the second auxiliary positioning column. According to the invention, the guide column 62 and the auxiliary positioning column are arranged to realize double positioning of press fitting precision during press fitting, so that the bearing and the ball screw pair are accurately centered during press fitting.

When in implementation:

when the press-fitting mechanism 6 sucks the bearing 2 on the bearing positioning pin 52 of the slide jig 5: the magnetic pressure head 65 contacts the bearing 2 under the action of the downward pressure of the servo electric cylinder 61, and the bearing 2 is adsorbed in the bearing clamping groove 652 under the combined action of the downward pressure of the servo electric cylinder 61 and the magnetic attraction force.

When the press-fitting mechanism 6 carries out press-fitting on the bearing 2: as shown in fig. 3, the magnetic pressure head 65 is aligned with the ball screw assembly 1, the bearing 2 is axially pressed by the servo electric cylinder 61, the servo electric cylinder 61 axially presses the bearing 2 onto the ball screw assembly 1, the press-fitting mechanism 6 is lifted upwards, and the bearing 2 is removed from the bearing slot 652 and is disengaged from the magnetic pressure head 65.

Example 2

The invention provides an automatic press-fitting assembly method of a ball screw pair bearing, which adopts the automatic press-fitting system of the ball screw pair bearing in embodiment 1 to assemble the ball screw pair 1 and the bearing 2, and comprises the following steps:

step S1: driving the sliding clamp 5 to slide to a first station along the linear guide rail 41; placing the ball screw pair 1 on a screw pair positioning block 53 of the sliding clamp 5; taking one bearing 2 out of the bearing bin 8, and placing the bearing 2 on a bearing positioning pin 52 of the sliding clamp 5;

step S2: driving the sliding clamp 5 to slide along the linear guide rail 41 to a second station, and axially aligning the bearing positioning pin 52 with the magnetic pressure head 65 of the press-fitting mechanism 6; the press-fitting mechanism 6 drives the magnetic pressure head 65 to move downwards to adsorb the bearing 2 on the bearing positioning pin 52;

step S3: the sliding clamp 5 is driven to slide to a third station along the linear guide rail 41, so that the ball screw pair 1 on the screw pair positioning block 53 is axially aligned with the bearing 2 in the magnetic pressure head 2; the press-fitting mechanism 6 drives the magnetic press head 65 to move downwards, and the bearing 2 is pressed on the ball screw assembly 1.

In the step S1:

the slide jig 5 is moved to the first working position at the rightmost side of the linear guide rail 41 by the driving of the driving motor 43, as shown in fig. 6, the four-axis robot 9 grabs the bearing 2 at the bearing bin 8 and places the bearing 2 at the bearing positioning pin 52 on the slide jig 5.

Then the four-axis robot 9 grabs the ball screw pair 1 and vertically places the ball screw pair in the positioning hole of the screw pair positioning block 53 for positioning.

Further, the way of taking out the bearing 2 from the bearing bin 8 is:

step S11: as shown in fig. 9, when the support plate 88 contacts the bearing outlet 83 at the bottom of the cartridge 81, the support plate 88 can support the bearing 2 in the cartridge 81.

Step S12: as shown in fig. 10, the second magazine cylinder 86 abuts against the penultimate bearing 2, the penultimate bearing 2 of the first magazine is supported by the support plate 88 and the first magazine cylinder 85, the penultimate bearing 2 is fixed to the side wall of the magazine cylinder 81 by the second magazine cylinder 86, and the bearings 2 above the penultimate bearing are supported by the penultimate bearing 2.

Step S13: the first bin cylinder 85 drives the supporting plate 88 to move downwards, the penultimate bearing 2 synchronously moves downwards, and the penultimate bearing 2 is supported by the second bin cylinder 86.

Step S14: when the supporting plate 88 descends to be flush with the bearing positioning pin 52 on the sliding fixture 5, the telescopic shaft of the third bin cylinder 87 extends out, and the telescopic shaft of the third bin cylinder 87 can push the bearing 2 to slide from the supporting plate 88 to the bearing positioning pin 52 on the sliding fixture 5.

After the feeding of the bearing 2 is completed, the telescopic shaft of the third bin cylinder 87 retracts, the first bin cylinder 85 drives the supporting plate 88 to move upwards to be in contact with the bottom of the bin cylinder 81, at the moment, the telescopic shaft of the second bin cylinder 86 retracts, all the bearings 2 in the bin cylinder 81 fall down freely under the action of self gravity, and are supported by the supporting plate 88 after falling to the supporting plate 88, and when the bearings need to be taken out again, the steps are repeated.

In the step S2:

the slide clamp 5 slides to the left along the linear guide 41 under the driving of the driving motor 43, so that the bearing positioning pin 52 on the slide clamp 5 is aligned with the bearing slot 652 of the magnetic pressure head 65 (i.e. the axes of the bearing positioning pin 52 and the bearing slot 652 are coincident), and at this time, the slide clamp 5 is located at the second working position, as shown in fig. 7.

When the sliding clamp 5 is located at the second working position, the magnetic pressure head 65 moves downwards along the guide post 62 under the driving of the servo electric cylinder 61, the bearing 2 on the bearing positioning pin 52 is adsorbed into the bearing clamping groove 652, and then the servo electric cylinder 61 drives the magnetic pressure head 65 to move upwards;

in step S3, the slide jig 5 is driven by the driving motor 43 to slide leftward along the linear guide 41, so that the positioning hole of the screw pair positioning block 53 is aligned with the bearing slot 652 of the magnetic ram 65, and even if the screw axis of the ball screw pair 1 is aligned with the axis of the bearing 2, the slide jig 5 is located at the third operating position, as shown in fig. 3.

When the sliding fixture 5 is located at the third working position, the push rods 73 of the screw pair positioning mechanisms 7 extend out under the driving of the air cylinders 71 to abut against the circumferential surface of the lower part of the ball screw pair 1, and the push rods 73 of the screw pair positioning mechanisms 7 on both sides tightly abut against both sides of the ball screw pair 1 to clamp and fix the ball screw pair 1 in the radial direction.

Further, the magnetic pressure head 65 is driven by the servo cylinder 61 to move downward along the guide post 62, and the bearing 2 is press-fitted to the end of the ball screw assembly 1.

After the press mounting is completed, the servo electric cylinder 61 drives the magnetic pressure head 65 to lift and move, the air cylinder 71 of the screw pair positioning mechanism 7 drives the ejector rod 73 to retract, the sliding clamp 5 moves to the first working position along the linear guide rail 41 under the driving of the driving motor 43, the ball screw pair bearing after the press mounting is placed at the blanking position through the four-axis robot 9, and the automatic press mounting of the ball screw pair bearing is completed.

Compared with the prior art, the technical scheme provided by the embodiment has at least one of the following beneficial effects:

1. the automatic press-mounting device and the method for the ball screw auxiliary bearing realize automatic feeding and press-mounting of the bearing through mutual matching of the four-axis robot mechanism, the sliding clamp and the press-mounting device, the press-mounting force and the press-mounting stroke are controllable, the stability of the press-mounting process and the consistency of the press-mounting state are ensured, the automatic press-mounting production is realized, the problems of bearing inclination, improper installation and the like caused by manual knock-in are avoided, and the press-mounting precision and consistency of the bearing after press-mounting are ensured.

2. The invention carries out positioning in the horizontal direction and the longitudinal direction on the ball screw pair through the sliding clamp 5 and the screw pair positioning mechanism 7, then the bearing 2 is absorbed through the press-mounting mechanism 6, and the press-mounting of the bearing is realized through automatic centering of the bearing 2 and the ball screw pair 1.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims

1. The utility model provides an automatic pressure equipment system of ball vice bearing which characterized in that includes: the device comprises a slide rail mechanism (4), a slide clamp (5), a press-fitting mechanism (6), a bearing bin (8) and a four-axis robot (9); the four-axis robot (9) can grab the bearing (2) from the bearing bin (8); the sliding clamp (5) is arranged on the sliding rail mechanism (4) and can slide along the sliding rail mechanism (4); the sliding clamp (5) is used for loading and positioning the ball screw pair (1) and the bearing (2); the press-mounting mechanism (6) is erected above the sliding rail mechanism (4), and a magnetic pressure head (65) is arranged on the press-mounting mechanism (6); the magnetic head (65) can adsorb the bearing (2); the press-fitting mechanism (6) can drive the magnetic press head (65) to move downwards; when the magnetic pressure head (65) moves downwards, the bearing (2) can be pressed on the ball screw pair (1).

2. The automatic press-fitting system for a ball screw pair bearing according to claim 1, wherein said slide rail mechanism (4) comprises: a linear guide rail (41), a slide block (42) and a driving motor (43); the sliding block (42) is installed on the linear guide rail (41) in a sliding mode; the driving motor (43) can drive the sliding block (42) to slide along the linear guide rail (41).

3. The automatic press-fitting system for a ball screw sub-bearing according to claim 2, wherein said slide jig (5) comprises: a positioning plate (51), a bearing positioning pin (52) and a screw pair positioning block (53); the positioning plate (51) is fixedly connected with the sliding block (42) or is of an integral structure; the bearing positioning pin (52) and the screw pair positioning block (53) are arranged on the positioning plate (51) in parallel.

4. The automatic press-fitting system for the ball screw pair bearing according to claim 1, wherein the screw pair positioning block (53) can slide relative to the positioning plate (51); four position adjusting blocks (54) are arranged around the screw pair positioning block (53); the position adjusting block (54) is fixedly arranged on the positioning plate (51); the position adjusting block (54) is provided with a threaded hole, and an adjusting screw rod (55) is arranged in the threaded hole; the end part of the adjusting screw rod (55) is abutted against the side surface of the screw rod pair positioning block (53).

5. The automatic press-fitting system for a ball screw sub-bearing according to claim 1, wherein said press-fitting mechanism (6) comprises: a servo electric cylinder (61), a mounting plate (63) and a magnetic pressure head (65); the mounting plate (63) is mounted above the sliding rail mechanism (4); the servo electric cylinder (61) is fixedly arranged on the mounting plate (63); the output end of the servo electric cylinder (61) penetrates through the mounting plate (63) and is fixedly connected with the magnetic pressure head (65).

6. The automatic press-fitting system for a ball screw pair bearing according to claim 1, wherein said press-fitting mechanism (6) further comprises: a guide post (62) and a connecting plate (64); the connecting plate (64) is arranged below the mounting plate (63) and is parallel to the mounting plate (63); magnetic pressure head (65) fixed mounting be in on connecting plate (64), guide post (62) one end with connecting plate (64) fixed connection, the other end passes mounting panel (63) and with mounting panel (63) sliding fit.

7. The automatic press-fitting system for the ball screw pair bearing according to claim 1, wherein the automatic press-fitting system for the ball screw pair bearing further comprises: a screw pair positioning mechanism (7); the screw pair positioning mechanisms (7) are symmetrically arranged on two sides of the linear guide rail (41).

8. The automatic press-fitting system for the ball screw pair bearing according to claim 1, wherein the screw pair positioning mechanism (7) comprises: the device comprises a cylinder (71), a mounting seat (72) and a push rod (73); the mounting seat (72) is fixedly mounted on a bottom plate (3) of the automatic press-fitting system of the ball screw pair bearing; the air cylinder (71) is fixedly installed on the installation base (72), the output end of the air cylinder (71) penetrates through the installation base (72) and is fixedly connected with the ejector rod (73), and the ejector rod (73) is used for ejecting the side face of the ball screw pair (1) to position the ball screw pair.

9. The automatic press-fitting system for a ball screw pair bearing according to claim 1, wherein the bearing magazine (8) comprises: the device comprises a bin cylinder (81), a first bin cylinder (85) and a second bin cylinder (86); a U-shaped hole (82) is formed in the side face of the material bin cylinder (81), and a bearing outlet (83) is formed in the bottom of the material bin cylinder (81); store a plurality of bearings (2) in the inner chamber of feed bin section of thick bamboo (81), first feed bin cylinder (85) are vertical to be set up the below of feed bin section of thick bamboo (81), second feed bin cylinder (86) level sets up one side of feed bin section of thick bamboo (82), just second feed bin cylinder (86) can compress tightly bearing (2) of second to last in feed bin section of thick bamboo (81).

10. An automatic press-fitting assembly method for a ball screw pair bearing, which adopts the automatic press-fitting system for a ball screw pair bearing as claimed in any one of claims 1 to 9 to assemble a ball screw pair (1) and a bearing (2), and comprises the following steps:

step S1: driving the sliding clamp (5) to slide to a first station along the linear guide rail (41); placing the ball screw pair (1) on a screw pair positioning block (53) of the sliding clamp (5); taking out a bearing (2) from the bearing bin (8), and placing the bearing (2) on a bearing positioning pin (52) of the sliding clamp (5);

step S2: the sliding clamp (5) is driven to slide to a second station along the linear guide rail (41), so that the bearing positioning pin (52) is axially aligned with a magnetic pressure head (65) of the press-fitting mechanism (6); the press-fitting mechanism (6) drives the magnetic pressure head (65) to move downwards to adsorb the bearing (2) on the bearing positioning pin (52);

step S3: the sliding clamp (5) is driven to slide to a third station along the linear guide rail (41), so that the ball screw pair (1) on the screw pair positioning block (53) is axially aligned with the bearing (2) in the magnetic pressure head (2); the press-fitting mechanism (6) drives the magnetic press head (65) to move downwards, and the bearing (2) is pressed on the ball screw pair (1).