CN113369862B - Automatic press-fitting system and method for ball screw auxiliary bearing - Google Patents
Automatic press-fitting system and method for ball screw auxiliary bearing Download PDFInfo
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- CN113369862B CN113369862B CN202110779935.4A CN202110779935A CN113369862B CN 113369862 B CN113369862 B CN 113369862B CN 202110779935 A CN202110779935 A CN 202110779935A CN 113369862 B CN113369862 B CN 113369862B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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Abstract
The invention relates to an automatic press-fitting system and an automatic press-fitting method for a ball screw auxiliary bearing, belongs to the technical field of automatic assembly, and solves the problems that in the prior art, the ball screw auxiliary bearing is easy to mount in place and poor in mounting accuracy consistency during assembly. An automatic press-fit system for a ball screw pair bearing, comprising: the device comprises a sliding rail mechanism, a sliding clamp, a press-fitting mechanism, a bearing bin and a four-axis robot; the four-axis robot can grasp 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-fitting machine framework is arranged above the sliding rail mechanism, and the magnetic pressure head is arranged on the press-fitting mechanism; the magnetic pressure head can adsorb the bearing; the pressing 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 automatic press-fitting device realizes automatic press-fitting of the ball screw auxiliary bearing, ensures press-fitting precision and consistency and improves assembly efficiency.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to an automatic press-fitting system and an automatic press-fitting method for a ball screw auxiliary bearing.
Background
The ball screw auxiliary bearing is used as one of mechanical structure transmission elements, and is very popular in various fields of transportation industry, aerospace, military products and the like. The ball screw pair bearing consists of a screw, a bearing and a nut, as shown in fig. 1. At present, the mode of adopting at the nut both sides to the bearing is manual pressure equipment, it is fixed with ball screw pair (by lead screw and nut constitution) through simple and easy frock, with bearing and nut both sides erection column axial centering respectively, through the installation of artifical striking and then realization bearing and nut erection column, its main problem that exists is influenced by hammering impulsive force effect, the outward appearance damage appears easily and because the area of force is relatively less, the easy problem such as installation is not in place, installation accuracy uniformity is poor appears, and can't be applicable to the batch production of bearing installation.
The existing assembly method of the bearing 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, through the installation of artifical striking and then realization bearing and nut erection column, the precision of pressure equipment, stability are not good and pressure equipment inefficiency. Hot-fill is a method of converting a tight fit into a loose fit using thermal expansion, but hot-fill requires a tight control of the heating temperature to prevent tempering effects in the installed parts. The cold-loading method is that the size of the installed part is reduced when the installed part is cooled in a low-temperature environment, and the method also needs to control the temperature, otherwise, the internal structure of the installed part is changed, and the stability of the size of the installed part is further affected.
Therefore, it is necessary to provide a mechanical full-automatic press-fitting device, so that automatic press-fitting of the whole bearing process is realized, press-fitting force and press-fitting stroke are controllable, stability of the press-fitting process and consistency of press-fitting states are ensured, meanwhile, damage to the appearance of the bearing is avoided, and press-fitting efficiency is improved.
Disclosure of Invention
In view of the above analysis, the invention aims to provide an automatic press-fitting system and an assembly method for a ball screw pair bearing, which are used for solving the problems that the appearance is easy to damage due to the impact of hammering impact when a bearing is knocked and installed by adopting a manual press-fitting method, and the bearing is easy to be installed in place due to the fact that the bearing with a relatively small stressed area, has poor installation precision consistency and cannot be suitable for mass production of the bearing press-fitting.
The aim of the invention is mainly realized by the following technical scheme:
an automatic press-fit system for a ball screw pair bearing, comprising: the device comprises a sliding rail mechanism, a sliding clamp, a press-fitting mechanism, a bearing bin and a four-axis robot; the four-axis robot can grasp 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-fitting machine framework is arranged above the sliding rail mechanism, and the magnetic pressure head is arranged on the press-fitting mechanism; the magnetic pressure head can adsorb the bearing; the pressing 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 device comprises a linear guide rail, a sliding block and a driving motor; the sliding block is arranged on the linear guide rail in a sliding way; 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 lead screw pair positioning block; the positioning plate is fixedly connected with the sliding block or is of an integrated structure; the bearing locating pin and the lead screw pair locating block are arranged on the locating plate in parallel.
Further, 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 in which an adjusting screw is arranged; the end part of the adjusting screw rod is abutted against the side surface of the screw rod pair positioning block.
Further, the press-fitting mechanism includes: a servo electric cylinder, a mounting plate and a 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 and is fixedly connected with the magnetic pressure head.
Further, the press-fitting mechanism further includes: the guide post and the 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 ball screw pair bearing automatic press-fitting system further includes: a screw pair positioning mechanism; the screw pair positioning mechanisms are symmetrically arranged on two sides of the linear guide rail.
Further, the screw pair positioning mechanism includes: the device comprises a cylinder, a mounting seat and a push rod; the mounting seat is fixedly arranged on a bottom plate of the automatic press-fitting system of the ball screw auxiliary bearing; the cylinder is fixedly arranged on the mounting seat, the output end of the cylinder penetrates through the mounting seat and is fixedly connected with the ejector rod, and the ejector rod is used for supporting the side face of the ball screw pair to position the ball screw pair.
Further, the bearing cartridge includes: the device comprises a bin barrel, a first bin cylinder and a second bin cylinder; the side surface of the storage bin barrel is provided with a U-shaped hole, and the bottom of the storage bin barrel is provided with a bearing outlet; the inner chamber of feed bin section of thick bamboo in store a plurality of bearings, the vertical below that sets up in feed bin section of thick bamboo of first feed bin cylinder, second feed bin cylinder level set up in one side of feed bin section of thick bamboo, and the second feed bin cylinder can compress tightly the bearing of penultimate in the feed bin section of thick bamboo.
The automatic press-fitting assembly method for the 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 of:
step S1: driving the sliding clamp to slide to a first station along the linear guide rail; placing a ball screw pair on a screw pair positioning block of a 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, so that the bearing positioning pin is axially aligned with the magnetic press head of the press-fitting mechanism; the pressing 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, so that a ball screw pair on a screw pair positioning block is axially aligned with a bearing in the magnetic pressure head; the pressing mechanism drives the magnetic pressure head to move downwards, and the bearing is pressed onto 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 sliding clamp and the screw pair positioning mechanism are used for positioning the ball screw pair at normal temperature, then the press-fitting mechanism is used for adsorbing and positioning the bearing, the bearing and the mounting columns on two sides of the nut are automatically aligned to realize press-fitting of the bearing, the temperature does not need to be regulated in the press-fitting process, the lower pressure of the press-fitting mechanism directly acts on the end face of the bearing, the bearing stress is ensured to be uniform due to the relatively large contact area, uniform speed leveling and pressure stabilizing of the bearing are realized, and the bearing is ensured to be pressed in place at one time after press-fitting, and has no damage to appearance, press-fitting precision and consistency.
2. According to the invention, the sliding clamp and the screw pair positioning mechanism are used for positioning the ball screw pair in the horizontal direction and the longitudinal direction, so that the bearing is pressed in place at one time after being pressed, the rotation is flexible, the appearance is not damaged, the press-fitting precision consistency is ensured, and the installation efficiency of the ball bearing is greatly improved.
3. In addition, the method does not need to increase a sleeve and other temperature control processes, and the magnetic pressure head directly acts on the bearing, so that the bearing is ensured to be stressed uniformly due to larger contact area, and uniform speed leveling and pressure stabilizing of the bearing are realized.
In the invention, the technical schemes can be mutually combined 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 may 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, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a ball screw assembly;
FIG. 2 is a schematic illustration of an automatic ball screw pair bearing press-fit system in accordance with one embodiment of the present invention;
FIG. 3 is a schematic view showing a first working position of a sliding clamp of an automatic press-fitting system for ball screw bearings according to an embodiment of the present invention;
FIG. 4 is a schematic view of a press-fitting mechanism of an automatic press-fitting system for ball screw bearings according to an embodiment of the present invention;
FIG. 5 is a schematic view illustrating the installation of a sliding clamp and a screw pair positioning mechanism of a ball screw pair bearing automatic press-fit system according to an embodiment of the present invention;
FIG. 6 is a schematic view showing a first working position of a sliding clamp of an automatic press-fitting system for ball screw bearings according to an embodiment of the present invention;
FIG. 7 is a schematic view showing a second working position of a sliding clamp of an automatic press-fitting system for ball screw pair bearings according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a magnetic head structure;
FIG. 9 is a schematic view of a bearing silo structure;
FIG. 10 is a schematic view of a bearing silo discharge state;
fig. 11 is a side view of a bearing cartridge.
Reference numerals:
1-a ball screw pair; 2-bearing; 3-a bottom plate; 4-a slide rail mechanism; 5-sliding a clamp; 6-a press-fitting mechanism; 7-a screw pair positioning mechanism; 8-a bearing bin; 9-a four-axis robot;
41-linear guide rail; 42-sliding blocks; 43-driving a motor;
51-positioning plates; 52-bearing locating pins; 53-a lead screw pair positioning block; 54-a position adjustment block; 55-adjusting a screw;
61-servo electric cylinder; 62-guiding columns; 63-mounting plate; 64 connecting plates; 65-magnetic head;
651-magnet mounting slots; 652-bearing detents; 653-a tapered guide slot;
71-cylinder; 72-mounting seats; 73-ejector rod;
81-a bin barrel; 82-U-shaped holes; 83-bearing outlet; 84-bin base; 85-a first stock bin cylinder; 86-a second silo cylinder; 87-a third bin cylinder; 88-pallet.
Detailed Description
The following detailed description of preferred embodiments of the invention is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the invention, are used to explain the principles of the invention and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the end of the ball screw assembly 1 is required to be provided with a bearing 2, and the end of the ball screw assembly and the bearing 2 are provided with an interference fit. The automatic press-fitting system of the ball screw pair bearing is used for realizing automatic press-fitting of the bearing on the ball screw pair 1.
In one embodiment of the present invention, an automatic press-fit system for a ball screw pair bearing is disclosed, comprising: the device comprises a slide rail mechanism 4, a slide clamp 5, a press fitting mechanism 6 and a 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-fitting mechanism 6 is arranged above the slide rail mechanism 4; the pressing mechanism 6 is provided with a servo electric cylinder 61 and a magnetic pressing head 65, the magnetic pressing head 65 can absorb a bearing, the servo electric cylinder 61 can drive the magnetic pressing head 65 to move up and down, and when the magnetic pressing head 65 presses down, the bearing 2 can be pressed on the ball screw pair 1 on the sliding clamp 5.
In one embodiment of the present invention, a slide rail mechanism 4 is provided on the base plate 3, and the slide rail mechanism 4 includes: a drive motor 43, a linear guide 41, and a slider 42; the sliding block 42 is slidably mounted on the linear guide rail 41, that is, a sliding groove is provided on the sliding block 42, and the sliding groove is slidably matched with the linear guide rail 41, so that the sliding block 42 can slide relative to the linear guide rail 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.
Further, the sliding clamp 5 is mounted on the sliding block 42, and when the sliding block 42 slides on the linear guide rail 41, the sliding clamp 5 can be driven to slide synchronously. The slide clamp 5 slides on the linear guide 41 to adjust the position. Photoelectric sensors are provided at the ends or both sides of the linear guide 41 to detect whether the slide jig 5 is moved into place. In practice, the sliding clamp 5 slides along the linear guide rail 41 under the drive of the driving motor 43, two sets of screw pair positioning mechanisms 7 are symmetrically arranged on two sides of the linear guide rail 41, the ball screw pair 1 is radially positioned and clamped, the pressing mechanism 6 is arranged above the sliding rail mechanism 4, and the bearing 2 can be pressed on the ball screw pair 1 on the sliding clamp 5.
Further, the ball screw auxiliary bearing automatic press-fitting system of the present invention further includes: a bearing silo 8 and a four-axis robot 9, as shown in fig. 2.
Further, the bearing cartridge 8 includes: a silo 81, a silo base 84, a first silo cylinder 85 and a second silo cylinder 86; wherein, feed bin section of thick bamboo 81 fixed mounting is in the top of feed bin base 84, stores a plurality of bearings 2 in the feed bin section of thick bamboo 81. The bin base 84 is of an L-shaped structure and is provided with a bottom plate and side plates; a second silo cylinder 86 is fixedly mounted on a side plate of the silo base 84.
As shown in fig. 9 to 11, a U-shaped hole 82 is provided on the side of the silo 81, a bearing outlet 83 is provided at the bottom of the silo 81, a first silo cylinder 85 is provided below the silo 81, the first silo cylinder 85 is vertically provided, and a telescopic shaft of the first silo cylinder 85 supports the bearing 2 at the bottom of the lowermost part in the silo 81.
Further, the second silo cylinder 86 is horizontally arranged, and the telescopic shaft of the second silo cylinder 86 can pass through the U-shaped hole 82 to be in contact with the bearing 2. The telescopic shaft of the second bin cylinder 86 can prop against the bearing 2 at the bottom of the bin barrel 81 when being extended, the bearings 2 above the last but one in the bin barrel 81 are all supported by the bearing 2 at the last but one, and the bearing 2 at the last but one is not stressed by lateral force.
Further, after the telescopic shaft of the first silo cylinder 85 is contracted, the bearing 2 at the bottom of the last one in the silo 81 falls out from the bearing outlet 83 at the bottom of the silo 81.
Further, a supporting plate 88 is fixedly connected above the telescopic shaft of the first stock bin cylinder 85, and the supporting plate 88 can support the bearing 2. When the second silo cylinder 86 is propped against the penultimate bearing 2, the penultimate bearing 2 is supported by the supporting plate 88, and when the telescopic shaft of the first silo cylinder 85 is contracted, the bearings 2 on the supporting plate 88 are synchronously lowered, as shown in fig. 10.
Further, a third bin cylinder 87 is further arranged on a side plate of the bin base 84, and the third bin cylinder 87 is horizontally arranged and is located below the second bin cylinder 86. Specifically, as shown in fig. 10, when the pallet 88 is lowered to be flush with the bearing positioning pin 52 on the slide jig 5, and the edge of the pallet 88 is close to the bearing positioning pin 52, the telescopic shaft of the third stock cylinder 87 is extended, and the telescopic shaft of the third stock cylinder 87 can push the bearing 2 to slide from the pallet 88 to fall onto the bearing positioning pin 52 on the slide jig 5.
The implementation process comprises the following steps:
as shown in fig. 9, the support plate 88 can support the bearing 2 in the cartridge 81 when the support plate 88 contacts the bearing outlet 83 at the bottom of the cartridge 81.
As shown in fig. 10, when the second bin cylinder 86 abuts against the penultimate bearing 2, the first bin penultimate bearing 2 is supported by the pallet 88 and the first bin cylinder 85, the penultimate bearing 2 is locked and fixed on the side wall of the bin cylinder 81 by the second bin cylinder 86, and the penultimate bearing 2 above is supported by the penultimate bearing 2. At this time, the first silo cylinder 85 drives the pallet 88 to move downward, and the penultimate bearing 2 moves downward synchronously, and the penultimate bearing 2 is supported by the second silo cylinder 86. When the supporting plate 88 descends to be level with the bearing positioning pin 52 on the sliding clamp 5, the telescopic shaft of the third storage cylinder 87 extends out, and the telescopic shaft of the third storage cylinder 87 can push the bearing 2 to slide from the supporting plate 88 to the bearing positioning pin 52 on the sliding clamp 5.
After the primary bearing 2 is fed, the first bin cylinder 85 drives the supporting plate 88 to move upwards to be in contact with the bottom of the bin barrel 81, at the moment, the telescopic shaft of the second bin cylinder 86 is retracted, all the bearings 2 in the bin barrel 81 are lowered under the action of self gravity and are supported by the supporting plate 88 after being lowered to the supporting plate 88, and when the secondary bearing is needed to be taken again, the steps are repeated.
In one embodiment of the present invention, the structure of the slide jig 5 and the screw pair positioning mechanism 7 and the mounting position on the linear guide 41 are as shown in fig. 5.
The slide jig 5 has a structure as shown in fig. 5, and the slide jig 5 includes: 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. The positioning plate 51 is slidably mounted on the linear guide rail 41, and specifically, the positioning plate 51 is fixedly connected with the slider 42 or is in an integral structure. The slide clamp 5 can be slid along the linear guide 41 by driving of the driving motor 43.
Further, a bearing positioning pin 52 is fixedly provided on the positioning plate 51 for loading the positioning bearing 2, a lead screw pair positioning block 53 is fixedly provided on the positioning plate 51, and the lead screw pair positioning block 53 is provided on the right side of the bearing positioning pin 52, as shown in fig. 5.
Further, 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 the 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 placed in a vertical state in the positioning hole to achieve positioning, the periphery of the screw assembly positioning block 53 is respectively provided with a position adjusting block 54 fixedly installed on the positioning plate 51, the position adjusting block 54 is provided with a threaded hole, an adjusting screw 55 passes through the threaded hole to be abutted to the side face of the screw assembly positioning block 53, and the installation 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 provided around the screw pair positioning blocks 53, as shown in fig. 5.
Further, screw pair positioning mechanisms 7 are also mounted on both sides of the linear guide 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 ejector pin 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 to be fixedly connected with one end of the ejector rod 73, and the other end of the ejector rod 73 can prop against the circumferential surface of the lower part of the ball screw assembly 1 to be used for carrying out radial auxiliary positioning on the ball screw assembly 1. In the implementation, the cylinder 71 drives the ejector rod 73 to extend forwards to prop against the side surface of the ball screw pair 1, and the two sides of the ball screw pair 1 are propped against the two sides of the ball screw pair 1 through the two-side screw pair positioning mechanism 7 at the same time, so that the auxiliary positioning of the ball screw pair 1 perpendicular to the direction of the linear guide rail 41 is realized.
In one embodiment of the present 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 press 65, as shown in fig. 4.
As shown in fig. 8, the magnetic head 65 is provided with a magnet mounting groove 651, and a magnet is fixedly mounted in the magnet mounting groove 651, and the magnet can attract the bearing 2 on the bearing positioning pin 52 by its own magnetic force. The magnetic head 65 is provided with a bearing engaging groove 652, and after the magnet attracts the bearing 2, the bearing 2 is engaged with the bearing engaging groove 662. Alternatively, the bearing 2 is engaged with the bearing engagement 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, in order to facilitate the bearing 2 to be clamped into the bearing clamping groove 652 smoothly, a conical guide groove 653 is arranged on the end face of the magnetic pressure head 65, the conical guide groove 653 is communicated with the bearing clamping groove 652, the large port diameter of the conical guide groove 653 is larger than the small port diameter, the small port diameter of the conical guide groove 653 is equal to the diameter of the bearing clamping groove 652, and the conical guide groove 653 is used for guiding the bearing 2 so as to be clamped into the bearing clamping groove 652 smoothly.
Further, the servo cylinder 61 is a modularized product in which a servo motor and a screw are integrally designed, and converts a rotational motion of the servo motor into a linear motion, so that accurate position control and accurate thrust control can be realized. The servo cylinder 61 is used for driving the magnetic pressure head 65 to move up and down, and when the servo cylinder 61 drives the bearing to move down, the bearing can be pressed onto 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 by four support columns.
Further, the guide post 62 is used for guiding the displacement of the magnetic press head 65, so as to ensure the press-fitting precision of the bearing. The guide posts 62 are plural, and the plurality of guide posts 62 are slidably mounted with the mounting plate 63, i.e., the guide posts 62 are slidable relative to the mounting plate 63.
Further, as shown in fig. 4, a connection plate 64 is provided below the mounting plate 63, and the connection plate 64 is parallel to the mounting plate 63; the guide post 62 passes through the mounting plate 63 and is fixedly connected with the connecting plate 64. Alternatively, one end of the guide post 62 is fixedly connected to the connecting plate 64, and the other end passes through the mounting plate 63 and is capable of sliding relative to the mounting plate 63. The magnetic head 65 is fixedly mounted on the connecting plate 64, the servo electric cylinder 61 is fixedly mounted 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 one side of the connecting plate 65, the connecting plate 65 can be driven to linearly displace relative to the mounting plate 63 through the servo electric cylinder 61, the magnetic head 65 is driven to move up and down, and the magnetic head 65 is guided through the guide post 62 when moving up and down, so that the accuracy of the downward moving direction is guaranteed.
Further, a first auxiliary positioning column and a second auxiliary positioning column are respectively arranged on the connecting plate 64 and the sliding clamp 5, wherein the second auxiliary positioning column is provided with a hollow auxiliary positioning hole, and when the bearing 2 is pressed, the servo electric cylinder 61 drives the connecting plate 64 to move downwards, the first auxiliary positioning column can be inserted into the auxiliary positioning hole of the second auxiliary positioning column. The invention realizes double positioning of the press fitting precision in the press fitting process by arranging the guide post 62 and the auxiliary positioning post, and ensures the precise centering of the bearing and the ball screw pair in the press fitting process.
The implementation process comprises the following steps:
when the press-fitting mechanism 6 sucks the bearing 2 on the bearing positioning pin 52 of the slide jig 5: the magnetic head 65 contacts the bearing 2 under the action of the pressing force of the servo cylinder 61, and the bearing 2 is attracted in the bearing clamping groove 652 under the combined action of the pressing force of the servo cylinder 61 and the magnet attraction force.
When the press-fitting mechanism 6 presses 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 cylinder 61, the bearing 2 is pressed and sleeved on the ball screw assembly 1 by the axial force of the servo cylinder 61, the pressing mechanism 6 is lifted upwards, and the bearing 2 is moved out of the bearing clamping groove 652 and separated from the magnetic pressure head 65.
Example 2
In a specific embodiment of the present invention, there is provided an automatic press-fitting method for a ball screw pair bearing, wherein the ball screw pair bearing 1 and the bearing 2 are assembled by using the automatic press-fitting system for the ball screw pair bearing in embodiment 1, comprising the steps of:
step S1: driving the sliding clamp 5 to slide to the first station along the linear guide rail 41; placing the ball screw assembly 1 on a screw assembly positioning block 53 of the sliding clamp 5; taking out one bearing 2 from the bearing silo 8 and placing the bearing 2 on the 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 the magnetic press head 65 of the press-fitting mechanism 6; the pressing 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 press head 2; the pressing mechanism 6 drives the magnetic pressing head 65 to move downwards, and presses the bearing 2 onto the ball screw pair 1.
In the step S1:
the slide clamp 5 is slid to the first working position on the rightmost side of the linear guide 41 by the driving of the driving motor 43, as shown in fig. 6, the four-axis robot 9 grips the bearing 2 at the bearing cartridge 8, and places the bearing 2 at the bearing positioning pin 52 on the slide clamp 5.
The four-axis robot 9 then grabs the ball screw pair 1 and vertically places it 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 silo 8 is:
step S11: as shown in fig. 9, the support plate 88 can support the bearing 2 in the cartridge 81 when the support plate 88 contacts the bearing outlet 83 at the bottom of the cartridge 81.
Step S12: as shown in fig. 10, the second bin cylinder 86 abuts against the penultimate bearing 2, the first bin penultimate bearing 2 is supported by the pallet 88 and the first bin cylinder 85, the penultimate bearing 2 is locked and fixed on the side wall of the bin barrel 81 by the second bin cylinder 86, and the penultimate bearings 2 are supported by the penultimate bearing 2.
Step S13: the first silo cylinder 85 drives the pallet 88 to move downward, and the penultimate bearing 2 moves downward synchronously, with the penultimate bearing 2 being held against by the second silo cylinder 86.
Step S14: when the supporting plate 88 descends to be level with the bearing positioning pin 52 on the sliding clamp 5, the telescopic shaft of the third storage cylinder 87 extends out, and the telescopic shaft of the third storage cylinder 87 can push the bearing 2 to slide from the supporting plate 88 to the bearing positioning pin 52 on the sliding clamp 5.
After the primary bearing 2 is fed, the telescopic shaft of the third bin cylinder 87 is retracted, the first bin cylinder 85 drives the supporting plate 88 to move upwards to be in contact with the bottom of the bin barrel 81, at the moment, the telescopic shaft of the second bin cylinder 86 is retracted, all the bearings 2 in the bin barrel 81 fall freely under the action of gravity of the bearings, the bearings fall to the supporting plate 88 and are supported by the supporting plate 88 after falling to the supporting plate 88, and the steps are repeated when the bearing is needed to be taken again.
In the step S2:
the sliding clamp 5 slides leftwards along the linear guide rail 41 under the drive of the driving motor 43, so that the bearing positioning pin 52 on the sliding clamp 5 is centered with the bearing clamping groove 652 of the magnetic press head 65 (namely, the axes of the bearing positioning pin 52 and the bearing clamping groove 652 are overlapped), and the sliding clamp 5 is located at the second working position as shown in fig. 7.
When the sliding clamp 5 is positioned at the second working position, the magnetic pressure head 65 moves downwards along the guide post 62 under the drive 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 lift;
in the step S3, the sliding clamp 5 is driven by the driving motor 43 to slide along the linear guide rail 41 to the left, so that the positioning hole of the screw pair positioning block 53 is aligned with the bearing clamping groove 652 on the magnetic head 65, and even if the screw axis of the ball screw pair 1 is aligned with the axis of the bearing 2, the sliding clamp 5 is located at the third working position, as shown in fig. 3.
When the slide clamp 5 is positioned at the third working position, the ejector rods 73 of the screw pair positioning mechanism 7 are driven by the air cylinders 71 to extend out to prop against the circumferential surface of the lower part of the ball screw pair 1, and the ejector rods 73 of the screw pair positioning mechanisms 7 at the two sides are used for propping against the two sides of the ball screw pair 1 to clamp and fix the ball screw pair 1 in the radial direction.
Further, the magnetic 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 fitting is completed, the servo electric cylinder 61 drives the magnetic pressure head 65 to lift and move, the cylinder 71 of the screw pair positioning mechanism 7 drives the ejector rod 73 to retract, the sliding clamp 5 moves to a first working position along the linear guide rail 41 under the drive of the driving motor 43, and the ball screw pair bearing after the press fitting is placed at the blanking position through the four-axis robot 9, so that the automatic press fitting 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-fitting device and the method for the ball screw auxiliary bearing realize automatic loading and press-fitting of the bearing through mutual matching of a four-axis robot mechanism, a sliding clamp and the press-fitting device, the press-fitting force and the press-fitting stroke are controllable, the stability of the press-fitting process is ensured, the consistency of the press-fitting state is ensured, the automatic press-fitting production is realized, the problems of inclination, inexistence in installation and the like of the bearing caused by manual knocking are avoided, and the press-fitting precision and consistency of the bearing after press-fitting are ensured.
2. According to the invention, the sliding clamp 5 and the screw pair positioning mechanism 7 are used for positioning the ball screw pair in the horizontal direction and positioning in the longitudinal direction, then the pressing mechanism 6 is used for adsorbing the bearing 2, and the bearing 2 and the ball screw pair 1 are automatically aligned to realize bearing pressing, in addition, the method does not need to increase a sleeve and other temperature control processes, the magnetic pressing head 65 directly acts pressure on the bearing 2, the bearing stress is ensured to be uniform due to larger contact area, uniform speed leveling and pressure stabilizing of the bearing are realized, the bearing is ensured to be pressed in place at one time after being pressed, the rotation is flexible, the appearance is not damaged, the consistency of pressing precision is ensured, and meanwhile, the installation efficiency of the ball bearing is greatly improved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. An automatic press-fit system for a ball screw pair bearing, comprising: the device comprises a sliding rail mechanism (4), a sliding clamp (5), a press mounting mechanism (6), a bearing bin (8) and a four-axis robot (9); the four-axis robot (9) can grasp 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-fit mechanism (6) is erected above the slide rail mechanism (4), and a magnetic pressure head (65) is arranged on the press-fit mechanism (6); the magnetic pressure head (65) is capable of adsorbing 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);
the slide rail mechanism (4) includes: a linear guide rail (41), a sliding block (42) and a driving motor (43); the sliding block (42) is slidably arranged on the linear guide rail (41); the driving motor (43) can drive the sliding block (42) to slide along the linear guide rail (41);
the slide clamp (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 integrated structure; the bearing locating pin (52) and the screw pair locating block (53) are arranged on the locating plate (51) in parallel;
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 (55) is arranged in the threaded hole; the end part of the adjusting screw (55) is propped against the side surface of the screw pair positioning block (53);
the automatic press-fitting system of the ball screw auxiliary 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);
a magnet mounting groove (651) is formed in the magnetic pressure head (65), a magnet is fixedly mounted in the magnet mounting groove (651), and the magnet can absorb the bearing (2) on the bearing positioning pin (52) through self magnetic force; a bearing clamping groove (652) is formed in the magnetic pressure head (65), and after the magnet adsorbs the bearing (2), the bearing (2) is clamped into the bearing clamping groove (662); the inner diameter of the bearing clamping groove (652) is the same as the outer diameter of the bearing (2); the end face of the magnetic pressure head (65) is provided with a conical guide groove (653), the conical guide groove (653) is communicated with the bearing clamping groove (652), the large port diameter of the conical guide groove (653) is larger than the small port diameter, the small port diameter of the conical guide groove (653) is equal to the diameter of the bearing clamping groove (652), and the conical guide groove (653) is used for guiding the bearing (2);
the bearing silo (8) comprises: a silo (81), a first silo cylinder (85) and a second silo cylinder (86); the side surface of the storage bin barrel (81) is provided with a U-shaped hole (82), and the bottom of the storage bin barrel (81) is provided with a bearing outlet (83); the storage device comprises a storage bin (81), a first storage bin cylinder (85), a second storage bin cylinder (86) and a plurality of bearings (2), wherein the plurality of bearings (2) are stored in an inner cavity of the storage bin (81), the first storage bin cylinder (85) is vertically arranged below the storage bin (81), the second storage bin cylinder (86) is horizontally arranged on one side of the storage bin (81), and the second storage bin cylinder (86) can press the bearing (2) at the last but one in the storage bin (81);
the telescopic shaft of the first stock bin cylinder (85) supports a bearing (2) at the bottom of the lowest part in the stock bin cylinder (81); a supporting plate (88) is fixedly connected above the telescopic shaft of the first stock bin cylinder (85), and the supporting plate (88) can support the bearing (2);
the telescopic shaft of the second stock bin cylinder (86) can pass through the U-shaped hole (82) to be in contact with the bearing (2); when the telescopic shaft of the second storage bin cylinder (86) stretches out and can prop against the bearing (2) at the bottom of the storage bin cylinder (81), the bearings (2) above the penultimate in the storage bin cylinder (81) are all supported by the bearing (2) at the penultimate.
2. The ball screw auxiliary bearing automatic press-fitting system according to claim 1, wherein the press-fitting mechanism (6) includes: a servo 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) to be fixedly connected with the magnetic pressure head (65).
3. The ball screw auxiliary bearing automatic press-fitting system according to claim 2, wherein the 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); the magnetic pressure head (65) is fixedly arranged on the connecting plate (64), one end of the guide post (62) is fixedly connected with the connecting plate (64), and the other end of the guide post penetrates through the mounting plate (63) and is in sliding fit with the mounting plate (63).
4. The automatic ball screw auxiliary bearing press-fitting system according to claim 3, further comprising: a screw pair positioning mechanism (7); the screw pair positioning mechanisms (7) are symmetrically arranged on two sides of the linear guide rail (41).
5. The ball screw pair bearing automatic press-fitting system according to claim 4, wherein the screw pair positioning mechanism (7) includes: 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 auxiliary bearing; the air cylinder (71) is fixedly arranged on the mounting seat (72), the output end of the air cylinder (71) penetrates through the mounting seat (72) to be fixedly connected with the ejector rod (73), and the ejector rod (73) is used for propping against the side face of the ball screw pair (1) to position the ball screw pair.
6. 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 as claimed in any one of claims 1 to 5 to assemble the ball screw pair (1) and the bearing (2), comprising 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 one 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: driving the sliding clamp (5) to slide to a second station along the linear guide rail (41) so as to axially align the bearing positioning pin (52) with the magnetic press head (65) of the press-fitting mechanism (6); the pressing 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 (65); the pressing mechanism (6) drives the magnetic pressure head (65) to move downwards, and the bearing (2) is pressed on the ball screw pair (1).
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| CN116728049B (en) * | 2023-07-05 | 2024-03-19 | 深圳市优界科技有限公司 | Automatic press mounting equipment of wave generator |
| CN117260210B (en) * | 2023-09-12 | 2024-08-09 | 山东雷德数控机械股份有限公司 | Automatic feeding device for connecting piece and full-automatic muntin connecting piece assembling system |
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