CN116038318A - Bearing automatic assembly device and method - Google Patents

Abstract

The application provides an automatic bearing assembling device and method, the automatic bearing assembling device includes: assembling a positioning mechanism; a jaw exchange mechanism for providing a plurality of different types of jaws; the first feeding mechanism is arranged adjacent to the assembly positioning mechanism and is used for providing various bearing assemblies to be assembled; the second feeding mechanism is arranged on the workbench and positioned at one side of the assembly positioning mechanism and is used for providing a locking piece for locking the bearing assembly; the movable robot is adjacently arranged on one side of the workbench and comprises a first mechanical arm and a second mechanical arm which are mutually cooperated, and is used for automatically loading clamping jaws of different types from the clamping jaw replacing mechanism through the first mechanical arm and the second mechanical arm so as to clamp the bearing component and the locking piece from the first feeding mechanism and the second feeding mechanism and transfer the bearing component and the locking piece to the assembling and positioning mechanism, and further, the bearing is assembled. The assembly precision and the efficiency of the bearing are effectively improved, and the bearing assembly automation is realized.

Description

Bearing automatic assembly device and method

technical field

The present application relates to the technical field of automatic assembly, in particular to an automatic assembly device and method for bearings.

Background technique

Bearings are basic mechanical components and are widely used in various mechanisms, such as automobiles, ships, airplanes, washing machines, etc.

However, bearing assembly is a cumbersome and precise process, and most of the existing bearing assembly is manually assembled. If the bearing assembly work is done manually, when the number of bearings is large, especially in the bearing manufacturing and assembly factories, it will be quite time-consuming and waste human resources, the degree of automation is low, and the assembly abnormality rate is high.

Contents of the invention

In view of the above, it is necessary to provide an automatic bearing assembly device and method to improve bearing assembly efficiency and assembly accuracy.

An embodiment of the present application provides an automatic assembly device for bearings, including: a workbench; an assembly positioning mechanism set on the workbench; a jaw replacement mechanism set on the workbench for providing multiple different types of Gripper; the first feeding mechanism, which is arranged adjacent to the assembly positioning mechanism, and is used to provide a variety of bearing assemblies to be assembled; the second feeding mechanism, which is arranged on the workbench and is located One side of the assembly positioning mechanism is used to provide a lock for locking the bearing assembly; the mobile robot is adjacent to one side of the workbench, and the assembly positioning mechanism, jaw replacement mechanism, first material supply The mechanism and the second feeding mechanism are all arranged around the mobile robot, and the mobile robot includes a first mechanical arm and a second mechanical arm cooperating with each other, and is used to obtain from the first mechanical arm and the second mechanical arm The jaw changing mechanism is automatically loaded with different types of jaws to pick up the bearing assembly and the locking piece from the first feeding mechanism and the second feeding mechanism and transfer them to the assembly location mechanism, and then complete the assembly of the bearing.

In the bearing automatic assembly device provided in this embodiment, the mobile robot automatically installs different types of jaws from the jaw replacement mechanism through the first mechanical arm and the second mechanical arm. Different types of jaws are respectively adapted to each bearing assembly and Locking parts, and then realize the clamping and assembly of bearing components and locking parts under the mutual cooperation of the first mechanical arm and the second mechanical arm, replacing manual assembly, effectively improving the assembly accuracy and efficiency of bearings, and reducing manpower Demand, realize the automation of bearing assembly.

In some embodiments, the bearing assembly includes bearing fittings for assembling the bearing, the first feeding mechanism includes a bearing bracket, and the bearing bracket is arranged on one side of the workbench for placing the bearing accessories, the jaws include a first jaw and a second jaw; the mobile robot is used to automatically load the first jaw from the jaw replacement mechanism through the first mechanical arm, The second mechanical arm automatically loads the second jaw from the jaw replacement mechanism; wherein, the first jaw and the second jaw cooperate with each other to extract from the first feeding mechanism The bearing fitting is clamped on the bearing bracket, and the bearing fitting is transferred to the assembly positioning mechanism, thereby completing the partial assembly of the bearing fitting on the bearing.

In some embodiments, the bearing assembly further includes rollers, the first feeding mechanism further includes a roller vibrating assembly, and the roller vibrating assembly is arranged on the workbench for providing the rollers, the jaws include a third jaw; the mobile robot is used to automatically unload the first jaw and automatically load the third jaw from the jaw changing mechanism by the first mechanical arm The claws are used to absorb the roller from the roller vibrating assembly multiple times, and transfer the roller to the assembly positioning mechanism, so as to complete the assembly of the roller on the bearing fitting.

In some embodiments, the third jaw includes: a first gripping finger, including a groove suction head; a second gripping finger, including a convex post suction head; wherein, the rollers include horizontal rollers, vertical rollers The groove suction head is used to suck the horizontal roller, and the convex post suction head is used to suck the vertical roller, so as to allow the first gripping finger and the second gripping finger to vibrate from the roller The component absorbs the horizontal roller and the vertical roller multiple times respectively, and transfers the horizontal roller and the vertical roller to the assembly positioning mechanism, and then puts the horizontal roller and the vertical roller The vertical rollers are placed crosswise at the designated positions of the bearing fittings.

In some embodiments, the jaws include a fourth jaw, and the mobile robot is configured to automatically unload the third jaw and automatically load the fourth jaw from the jaw changing mechanism by the first robotic arm. Four clamping jaws, to clamp the locking piece multiple times from the second feeding mechanism and transfer the locking piece to the assembly positioning mechanism, and lock the locking piece under the cooperation of the second jaws The parts are locked in the predetermined position of the bearing assembly to complete the assembly of the bearing.

In some embodiments, the mobile robot further includes: a torque detection component, which is provided on the first mechanical arm, and is used to detect whether the first mechanical arm drives the fourth jaw to lock the locking member. Whether the torque reaches the first predetermined requirement; wherein, when the torque does not meet the first predetermined requirement, the fourth jaw continues to lock the locking member that does not meet the first predetermined requirement; when the When the torque reaches the first predetermined requirement, the second clamping jaw will take the assembled bearing away from the assembly positioning mechanism.

In some embodiments, the bearing automatic assembly device also includes:

The bearing detection mechanism is arranged on the side of the assembly positioning mechanism away from the mobile robot, and is used to detect whether the assembled bearing meeting the first predetermined requirement meets the second predetermined requirement;

Wherein, the bearings that meet the second predetermined requirement and those that do not meet the second predetermined requirement will be moved to different positions respectively.

In some embodiments, the automatic bearing assembly device further includes: a double-layer transportation line, which is arranged on the same side of the bearing detection mechanism and the workbench; wherein, when the torque reaches the first predetermined requirement , the second gripper takes the assembled bearing away from the assembly positioning mechanism and transfers it to the double-layer transportation line, and the double-layer transportation line transports the completed assembled bearing meeting the first predetermined requirement. the bearing to the bearing inspection mechanism, and transporting the bearing meeting the second predetermined requirement away from the bearing inspection mechanism.

In some embodiments, the mobile robot further includes: a three-dimensional force sensor, provided at the output end of the second mechanical arm, for detecting Whether the rotation resistance of the bearings meeting the second predetermined requirement on the double-layer transportation line meets the third predetermined requirement; wherein, the bearings that meet the third predetermined requirement and fail to meet the third predetermined requirement will be moved to different locations.

In some embodiments, the mobile robot further includes: an arm camera, disposed on the second robot arm, for acquiring an assembly image of the bearing assembly process, so as to complete the assembly of the bearing.

An embodiment of the present application also provides an automatic bearing assembly method, applying the automatic bearing assembly device described in the above embodiment, including: providing the bearing assembly to the first feeding mechanism and the locking piece to the second feeding structure, wherein the The bearing assembly includes bearing fittings and rollers; moving the mobile robot to the jaw replacement mechanism, the first mechanical arm and the second mechanical arm automatically load the first jaw and the second jaw respectively; through the first jaw and the The second clamping jaws respectively clamp the bearing accessories from the first feeding mechanism and transfer them to the assembly positioning mechanism; move the robot to the clamping jaw replacement mechanism again, and the first mechanical arm automatically unloads the first clamping jaw and Automatic loading of the third jaw; through the third jaw, the rollers are clamped multiple times from the first feeding mechanism and transferred to the designated position of the bearing fitting on the assembly positioning mechanism; moving the mobile robot to the jaw replacement mechanism again, The first mechanical arm automatically unloads the third jaw and automatically loads the fourth jaw; through the fourth jaw, the locking piece is clamped from the second feeding mechanism and locked to the bearing assembly to complete the assembly of the bearing .

In the bearing automatic assembly method provided in this embodiment, the mobile robot automatically installs different types of jaws from the jaw replacement mechanism through the first mechanical arm and the second mechanical arm, and different types of jaws are respectively adapted to each bearing assembly and Locking parts, and then realize the clamping and assembly of bearing components and locking parts under the mutual cooperation of the first mechanical arm and the second mechanical arm, replacing manual assembly, effectively improving the assembly accuracy and efficiency of bearings, and reducing manpower Demand, realize the automation of bearing assembly.

In some embodiments, the step of clamping the locking piece from the second feeding mechanism through the fourth jaw and locking it on the bearing assembly to complete the assembly of the bearing further includes: detecting the first Whether the torque force of the mechanical arm driving the fourth jaw to lock the locking member reaches the first predetermined requirement; when the torque reaches the first predetermined requirement, the second jaw grips and transfers to the first predetermined The required bearing to the double-layer transportation line; when the torque does not meet the first predetermined requirement, the fourth jaw continues to lock the locking piece that does not meet the first predetermined requirement; through the The double-layer transportation line transports the assembled bearings meeting the first predetermined requirement to the bearing inspection mechanism.

In some embodiments, the step of transporting the assembled bearing meeting the first predetermined requirement to a bearing inspection mechanism through the double-layer transportation line includes: the bearing inspection mechanism detects that the double-layer transportation line transports Whether the incoming bearings meet the second predetermined requirement; place the bearings that meet the second predetermined requirement on the double-layer transportation line, and place the bearings that do not meet the second predetermined requirement in corresponding positions.

In some embodiments, the bearing automatic assembly method further includes: moving the mobile robot to the jaw replacement mechanism again, and the first mechanical arm automatically loads the first jaw again; the three-dimensional force sensor is between the first jaw and the Under the cooperation of the second jaw, it is detected whether the rotation resistance of the bearing meeting the second predetermined requirement on the double-layer transportation line meets the third predetermined requirement; the double-layer transportation line will meet the first predetermined requirement. The bearings with three predetermined requirements are transported to corresponding positions; the first jaws or the second jaws move the bearings that do not meet the third predetermined requirements to corresponding positions.

Description of drawings

FIG. 1 is a schematic structural diagram of an automatic bearing assembly device according to an embodiment of the present application.

Fig. 2 is a cross-sectional view of a bearing assembled by the automatic bearing assembly device of Fig. 1 .

FIG. 3 is a schematic structural diagram of the mobile robot in FIG. 1 .

FIG. 4 is a structural schematic diagram of a positioning jig assembled with a positioning mechanism in FIG. 1 .

FIG. 5 is a schematic structural diagram of an oil seal press-fitting mechanism assembled with a positioning mechanism in FIG. 1 .

FIG. 6 is a schematic structural diagram of the jaw replacement mechanism in FIG. 1 .

FIG. 7 is a schematic structural view of the third jaw in FIG. 6 .

FIG. 8 is a schematic structural diagram of the roller vibrating assembly in FIG. 1 .

FIG. 9 is a structural schematic diagram of the assembly process of the automatic bearing assembly device of FIG. 1 .

Explanation of main component symbols

Workbench 11

Assembling the positioning mechanism 12

Jaw Replacement Mechanism 13

The first feeding mechanism 14

The second feeding mechanism 15

Mobile Robot 16

head 1611

Main body 1612

First Arm 1613

Second Arm 1614

Mobile chassis 1615

The first robotic arm 161

Second robotic arm 162

Laser Navigator 163

Head Camera 164

Arm Camera 165

Display 168

The first jaw 131

Second jaw 132

Bearing 20

Oil seal 21

Raceway flange 22

Rotary shaft raceway 23

Raceway flange seat 24

Bearing Bracket 141

Oil seal tray 1411

Raceway Flange Cover Tray 1412

Rotary shaft raceway tray 1413

Raceway Flange Base Tray 1414

Positioning Fixtures 121

Positioning axis 1211

Bearing seat 1212

Oil seal pressing mechanism 123

The third jaw 133

The first finger 1331

Second finger 1332

Groove suction head 1333

Convex suction head 1334

Roller Vibration Components 142

Camera 1421

Vibration plate 1422

Fourth jaw 134

The first acupuncture point 135

The second acupuncture point 136

The third acupuncture point 137

The fourth acupuncture point 138

Torque Detection Components 166

Bearing detection mechanism 17

Product storage mechanism 18

Double layer transport line 19

Upper transport line 191

Lower transportation line 192

Three-dimensional force sensor 167

Locking piece 25

Horizontal Roller 26

Vertical Roller 27

Detailed ways

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.

Various embodiments of the present case will be described in detail below in conjunction with the accompanying drawings.

Referring to FIG. 1 , an embodiment of the present application provides an automatic bearing assembly device 100 . This application takes the automatic assembly of the bearing 20 in FIG. 2 as an example to describe the automatic bearing assembly device 100 in detail.

Specifically, the bearing automatic assembly device 100 includes a workbench 11 , an assembly positioning mechanism 12 , a gripper replacement mechanism 13 , a first feeding mechanism 14 , a second feeding mechanism 15 and a mobile robot 16 . The assembling and positioning mechanism 12 and the clamping jaw replacement mechanism 13 are arranged on the workbench 11, and the clamping jaw replacement mechanism 13 is used to provide multiple different types of clamping jaws. The first feeding mechanism 14 is disposed adjacent to the assembly positioning mechanism 12, and is used for providing various kinds of bearing assemblies to be assembled. The second feeding mechanism 15 is disposed on the workbench 11 and is located at one side of the assembly positioning mechanism 12 for providing a locking member 25 for locking the bearing assembly. The mobile robot 16 is adjacent to one side of the workbench 11 . The assembly and positioning mechanism 12 , the gripper replacement mechanism 13 , the first feeding mechanism 14 and the second feeding mechanism 15 are all arranged around the mobile robot 16 .

Wherein, the mobile robot 16 includes a first mechanical arm 161 and a second mechanical arm 162 cooperating with each other, for automatically loading different types of jaws from the jaw replacement mechanism 13 through the first mechanical arm 161 and the second mechanical arm 162, The bearing assembly and the locking member 25 are picked up from the first feeding mechanism 14 and the second feeding mechanism 15 and transferred to the assembly positioning mechanism 12 , thereby completing the assembly of the bearing 20 .

In the above-mentioned embodiment, the mobile robot 16 automatically installs different types of grippers from the gripper replacement mechanism 13 through the first robotic arm 161 and the second robotic arm 162, and first grabs the bearing assembly from the first feeding mechanism 14 and transfers it To the assembly positioning mechanism 12 to complete the assembly of the bearing assembly, then the locking piece 25 is clamped from the second feeding mechanism 15 and transferred to the assembly positioning mechanism 12 to lock the locking piece 25 on the assembled bearing assembly, and then the bearing is completed 20's assembled.

In the bearing automatic assembly device 100 provided in this embodiment, the mobile robot 16 automatically loads different types of jaws through the jaw replacement mechanism 13 of the first mechanical arm 161 and the second mechanical arm 162, and different types of jaws are respectively adapted to each The bearing assembly and the locking piece 25, and then realize the clamping and assembling of the bearing assembly and the locking piece 25 under the mutual cooperation of the first mechanical arm 161 and the second mechanical arm 162, which replaces the manual assembly method and effectively improves the bearing 20. Assembly accuracy and efficiency reduce manpower requirements and realize bearing assembly automation.

Please refer to FIG. 3 further, the mobile robot 16 includes a head 1611 , a main body 1612 , a first arm 1613 , a second arm 1614 and a mobile chassis 1615 . The main body 1612 is disposed on the mobile chassis 1614 , the head 1611 is disposed on the upper end of the main body 1612 , and the first arm 1613 and the second arm 1614 are respectively disposed on two sides of the main body 1611 . The first robot arm 161 and the second robot arm 162 are respectively connected to the first arm part 1613 and the second arm part 1614 .

Further, the mobile chassis 1615 of the mobile robot 16 is provided with a laser navigator 163 for scanning the working area of the mobile robot 16 and establishing a three-dimensional space map.

Further, the head 1611 of the mobile robot 16 is provided with a head camera 164 for acquiring environmental images of the working area of the mobile robot 16 .

Further, the mobile robot 16 also includes a controller (not shown), the laser navigator 163 and the head camera 164 are electrically connected to the controller, and the controller obtains the three-dimensional space map obtained by the laser navigator 163 and the head camera 164. Establish a three-dimensional model based on the environment image and perform calculation and analysis on the three-dimensional model, and plan the walking path and operation steps of the mobile robot 16 in advance. For example, the head camera 164 may be a CCD camera, and the laser navigator 163 may be a SLAM navigation.

In some embodiments, the mobile robot 16 also includes an arm camera 165 . The arm camera 165 is installed at the output end of the second mechanical arm 162 for acquiring relevant images during the assembly process to assist the first mechanical arm 161 and the second mechanical arm 162 to drive different types of grippers to complete the assembly of the bearing 20 . For example, arm camera 165 may be a CCD camera.

Further, the arm camera 165 is electrically connected to the controller, and the controller controls the movement of different types of grippers installed on the first mechanical arm 161 and the second mechanical arm 162 according to the relevant images captured by the arm camera 165 during the assembly process. Operation steps to complete the assembly of the bearing 20.

In some embodiments, mobile robot 16 also includes a display 168 . The display 168 is disposed on the main body 1612 . The display 168 is electrically connected with the controller, and is used for displaying relevant image data and operating buttons, so as to facilitate the operator to control the assembly process of the bearing 20 .

In the above-mentioned embodiment, by installing the mobile robot 16 instead of manpower to realize the relevant assembly steps of the bearing 20, the assembly accuracy and efficiency of the bearing are effectively improved, the manpower requirement is reduced, and the automation of the bearing assembly is realized.

Please further refer to FIG. 1 , in some implementations, the bearing assembly includes bearing fittings and rollers for assembling the bearing 20 , wherein the first feeding mechanism 14 includes a bearing bracket 414 and a roller vibrating assembly 142 . The bearing bracket 141 is disposed on one side of the workbench 11 for placing bearing accessories. The roller vibrating assembly 142 is provided on the worktable 11 for providing the rollers placed in a predetermined direction.

Further, the jaws include a first jaw 131 and a second jaw 132 . The mobile robot 16 is used to automatically load the first gripper 131 from the gripper replacement mechanism 13 through the first robotic arm 161 , and automatically load the second gripper 132 from the gripper replacement mechanism 13 through the second robotic arm 162 .

Wherein, the first jaw 131 and the second jaw 132 cooperate with each other to clamp the bearing fittings from the bearing bracket 141 of the first feeding mechanism 14, and transfer the bearing fittings to the assembly positioning mechanism 12, and then complete the bearing fittings to Partial assembly on bearing 20.

Please refer to FIG. 2 further. In this embodiment, the bearing fittings placed on the bearing bracket 141 at least include an oil seal 21 , a raceway flange cover 22 , a rotating shaft raceway 23 , and a raceway base 24 . Further referring to FIG. 1 , an oil seal tray 1411 , a raceway flange cover tray 1412 , a rotating shaft raceway tray 1413 , and a raceway flange base tray 1414 are arranged in sequence on the bearing bracket 141 , which are respectively used to hold the oil seal 21 , Raceway flange cover 22, rotating shaft raceway 23, raceway flange base 24.

Please refer to FIG. 1 further. In this embodiment, the assembling and positioning mechanism 12 at least includes a positioning jig 121 and an oil seal pressing mechanism 122 . The positioning jig 121 is used for positioning the bearing fittings during the assembly process, and the oil seal pressing mechanism 122 is used for pressing the oil seal 21 .

Please refer to FIG. 4 further. The positioning jig 121 includes a positioning shaft 1211 and a bearing seat 1212 .

Please refer to FIG. 5 further. The oil seal pressing mechanism 123 includes a pressing shaft 1221 and a pressing seat 1222. The pressing shaft 1221 is used to carry the oil seal 21. The pressing shaft 1221 can drive the oil seal 21 to press against the pressing seat 1222, so as to The oil seal 21 is press-fitted.

In the above embodiment, firstly, the mobile robot 16 moves to the side of the supporting bracket 141, the second mechanical arm 162 uses the arm camera 165 to photograph the position of the oil seal 21, the first jaw 131 clamps the oil seal 21 from the oil seal tray 1411, and the second The second mechanical arm 162 takes the position of the raceway flange cover 22 with the arm camera 165 again, and the second jaw 132 clamps the raceway flange cover 22 from the raceway flange cover material tray 1412; then, the mobile robot 16 moves Next to the workbench 11, the second mechanical arm 162 uses the arm camera 165 to photograph the position of the pressing shaft 1221, puts the oil seal 21 on the pressing shaft 1221, and the second mechanical arm 162 uses the arm camera 165 to photograph the raceway flange Position of the cover 22, the second jaw 132 puts the raceway flange cover 22 on the workbench 11; then, the mobile robot 16 moves to the side of the supporting bracket 141 again, and the second mechanical arm 162 uses the arm camera 165 to photograph and rotate The position of the shaft raceway 23, the first jaw 131 clamps the rotation shaft raceway 23 from the rotation shaft raceway material tray 1413, the second mechanical arm 162 uses the arm camera 165 to photograph the position of the raceway flange base 24, the second Two jaws 132 clamp the raceway flange base 24 from the raceway flange base 24; then, the mobile robot 16 moves to the side of the workbench 11 again, and the second mechanical arm 162 takes pictures of the raceway flange base with the arm camera 165 24 positioning position, the second jaw 132 places the raceway flange base 24 on the bearing seat 1212, the second mechanical arm 162 uses the arm camera 165 to photograph the positioning position of the rotating shaft raceway 23, and the first jaw 131 will The rotating shaft raceway 23 is placed on the positioning shaft 1211 to complete the partial assembly of the bearing fittings on the bearing 20 .

Please refer to FIG. 6 further, further, the jaws include a third jaw 133 . The mobile robot 16 is used to automatically unload the first jaw 131 and automatically load the third jaw 133 from the jaw replacement mechanism 13 through the first mechanical arm 161, so as to absorb the roller from the roller vibrating assembly 142 multiple times, and place the roller Transfer to the assembly positioning mechanism 121, and then complete the assembly of the rollers on the bearing fittings.

Further referring to FIG. 7 , in some embodiments, the third clamping jaw 133 includes a first clamping finger 1331 and a second clamping finger 1332 . The first clamping finger 1331 includes a recessed suction head 1333 , and the second clamping finger 1332 includes a convex post suction head 1334 .

Wherein, please refer to FIG. 2 further, the rollers include horizontal rollers 26 and vertical rollers 27 . The groove suction head 1333 is used to suck the horizontal roller, and the convex post suction head 1334 is used to suck the vertical roller, so as to allow the first finger 1331 and the second finger 1332 to suck the horizontal roller from the roller vibrating assembly multiple times respectively. 26 and the vertical roller 27, and the horizontal roller 26 and the vertical roller 27 are transferred to the assembly positioning mechanism 12, and then the horizontal roller 26 and the vertical roller 27 are intersected and placed at the corresponding positions of the bearing fittings.

Please refer to FIG. 8 , in some embodiments, the roller vibrating assembly 142 includes a camera 1421 and a vibrating plate 1422 , and the shooting direction of the camera 1421 faces the vibrating plate 1422 . The vibrating plate 1422 is used to obtain the horizontal roller 26 and the vertical roller 27 placed in a predetermined direction through vibration. The camera 1421 is used to acquire images of the horizontal roller 26 and the vertical roller 27 on the vibrating plate 1422 .

Further, the camera 1421 is electrically connected with the controller. The controller is used for judging the quantity of the horizontal rollers 26 and the vertical rollers 27 according to the images of the horizontal rollers 26 and the vertical rollers 27 on the vibrating plate 1422 captured by the camera 1421 . When the quantity of the horizontal roller 26 and the vertical roller 27 is greater than 0, the first finger 1331 and the second finger 1332 absorb the horizontal roller 26 and the vertical roller 27 from the vibrating plate 1422 respectively, and the horizontal The rollers 26 and the vertical rollers 27 are moved to the designated positions of the bearing fittings on the positioning jig 121 .

In the above embodiment, first, the camera 1421 photographs the positions of the horizontal roller 26 and the vertical roller 27 on the vibration plate 1422, and the third jaw 133 absorbs the horizontal roller 26 and the vertical roller 27 multiple times from the vibration plate 1422 on the worktable 11. Vertical roller 27; Then, the second mechanical arm 162 uses the arm camera 165 to photograph the position of the raceway flange base 24 on the positioning fixture 121, and the third jaw 133 crosses the horizontal roller 26 and the vertical roller 27 Put into the raceway flange base 24 until the horizontal roller 26 and the vertical roller 27 fill the raceway flange base 24; The assembly images of the horizontal rollers 26 and vertical rollers 27 in the raceway flange base 24 are used to judge whether the horizontal rollers 26 and the vertical rollers 27 in the raceway flange base 24 meet the assembly requirements. If they do not meet the assembly requirements, the third clip The claw 133 takes the roller that does not meet the assembly requirements back to the vibrating plate 1422; if the assembly requirements are met, the second jaw 132 takes out the pressed oil seal 21 from the oil seal pressing mechanism 123, and the second mechanical arm 162 uses the arm The camera 165 photographs the positioning position of the pressed oil seal 21, and the pressed oil seal 21 is assembled at the designated position of the bearing fitting; then, the second jaw 132 clamps the raceway flange cover 22 placed on the workbench 11, The outer diameters of the raceway flange cover 22 and the raceway flange base 24 are tightly hugged to ensure the coaxiality of the raceway flange cover 22 and the raceway flange base 24 .

Please refer to FIG. 6 further. The jaw includes a fourth jaw 134 . Please refer further to FIG. 9 , the mobile robot 16 is used to automatically unload the third jaw 133 from the jaw replacement mechanism 13 through the first mechanical arm 161 and automatically load the fourth jaw 134 to clamp multiple times from the second feeding mechanism 15. Take the locking piece 25 and move the locking piece 25 to the assembly positioning mechanism 13 , and lock the locking piece 25 at a predetermined position of the bearing assembly under the cooperation of the second jaw 132 to complete the assembly of the bearing 20 . For example, the locking member 25 can be a screw, and the fourth jaw 134 can be a driver suitable for the screw.

In this embodiment, the number of locking pieces 25 required for each bearing 20 is four, which are respectively installed at the opposite corners of the bearing 20, so as to ensure the balance of the locking force of the locking pieces 25 on the bearing 20, thereby improving the bearing capacity. 20 Assembled for stability.

In the above-described embodiment, the second mechanical arm 162 uses the arm camera 165 to take pictures of the position of the locking member 25 in the second feeding mechanism 15, and the fourth jaw 134 clamps the locking member 25 from the second feeding mechanism 15 to lock the locking member 25. The member 25 is locked at the designated position of the raceway flange cover 22 and the raceway flange base 24. Among them, the fourth jaw 134 is rotated by the sixth axis of the first mechanical arm 161 to output the rotational torque, and four locking pieces 25 are installed diagonally, and the locking piece 25 is photographed by the arm camera 165 of the second mechanical arm 162. Lock the specified position, lock the locking member 25 at the specified position of the raceway flange cover 22 and the raceway flange base 24 .

Please further refer to FIG. 9 , in some embodiments, the mobile robot 16 further includes a torque detection component 166 . The torque detection component 166 is disposed on the first mechanical arm 161 and is used for detecting whether the torque force driven by the first mechanical arm 161 to drive the fourth jaw 134 to lock the locking member 25 meets a first predetermined requirement.

Wherein, when the torque does not reach the first predetermined requirement, the fourth jaw 134 continues to lock the locking member 25 under the cooperation of the second jaw 132; when the torque reaches the first predetermined requirement, the second jaw 132 will complete The assembled bearing 20 is taken away from the assembly positioning mechanism 13 .

In this embodiment, the fourth jaw 134 locks the locking member 25 three times, the first torque is 1N, the second torque is 2N, and the third torque is 4.5N. The magnitude of the torque each time is controlled by the controller. The rotational output torque of the second mechanical arm 162 is controlled to adjust. If the torque output by the first mechanical arm 161 to the fourth jaw 134 to lock the locking member 25 does not meet the first predetermined requirement, the fourth jaw 134 continues to lock the locking member 25 under the cooperation of the second jaw 132 , until the torque output by the first mechanical arm 161 to the fourth jaw 134 to lock the locking member 25 reaches the first predetermined requirement, when the torque output by the first mechanical arm 161 to the fourth jaw 134 to lock the locking member 25 When the torque reaches the first predetermined requirement, the second jaw 132 will take the assembled bearing 20 away from the assembly positioning mechanism 13 .

Please refer to FIG. 1 further. In some embodiments, the automatic bearing assembly device 100 further includes a bearing detection mechanism 17 . The bearing detection mechanism 17 is arranged on the side of the assembly positioning mechanism 12 away from the mobile robot 16, and is used to detect whether the assembled bearing 20 meets the second predetermined requirement. Wherein, the second jaw 132 moves the bearings meeting the second predetermined requirement and those not meeting the second predetermined requirement to different positions respectively.

Please refer to FIG. 1 further. In some embodiments, the automatic bearing assembly device 100 further includes a double-layer transport line 19 disposed on the same side of the bearing inspection mechanism 17 and the workbench 11 . Wherein, if the torque output by the second mechanical arm 162 to the fourth jaw 134 to lock the locking member 25 reaches the first predetermined requirement, the second jaw 132 grips and transfers the assembled bearing 20 to the double-layer transportation line 19 , and then the double-layer transportation line 19 transports the assembled bearings 20 to the bearing testing mechanism 17 , and transports the bearings 20 meeting the second predetermined requirement away from the bearing testing mechanism 17 .

In some embodiments, the automatic bearing assembly device 100 further includes a product storage mechanism 18 . The product storage mechanism 18 and the double-layer transportation line 19 are arranged on the same side of the workbench 11 , and the double-layer transportation line 19 is arranged between the bearing detection mechanism 17 and the product storage mechanism 18 .

Further, the double-layer transportation line 19 includes an upper layer transportation line 191 and a lower layer transportation line 192, the upper layer transportation line 191 and the lower layer transportation line 192 are arranged layer by layer and the transportation directions are opposite. The output end of the upper transport line 191 is towards the bearing testing mechanism 17 , and is used for transporting the assembled bearings 20 meeting the first predetermined requirement to the bearing testing mechanism 17 . The output end of the lower transportation line 192 faces the product storage mechanism 18 and is used to keep the assembled bearings 20 meeting the second predetermined requirement away from the bearing detection mechanism 17 .

Referring further to FIG. 3 , in some embodiments, the mobile robot 16 further includes a three-dimensional force sensor 167 . The three-dimensional force sensor 167 is arranged at the output end of the second mechanical arm 162, and is used for detecting the assembled bearing on the double-layer transportation line 19 that meets the second predetermined requirement under the mutual cooperation of the first jaw 131 and the second jaw 132 Whether the rotational resistance of 20 meets the third predetermined requirement.

Wherein, the bearings 20 that meet the third predetermined requirement and those that fail to meet the third predetermined requirement are respectively transferred to different positions. For example, the bearings 20 that meet the third predetermined requirement are placed in the product storage mechanism 18, and the bearings 20 that do not meet the third predetermined requirement are transferred to the recycling area.

Please refer to Fig. 6 further, the jaw replacement mechanism 13 is provided with a first acupuncture point 135, a second acupuncture point 136, a third acupuncture point 137, and a fourth acupuncture point 138, which are respectively used to place the first jaw 131, the second jaw 132, the Three jaws 133 and a fourth jaw 134 .

In the above embodiment, the mobile robot 16 moves to the jaw replacement mechanism 13 , automatically loads the jaw machine on the corresponding acupuncture point and puts the automatically unloaded jaws to the corresponding acupuncture point to complete the assembly of the bearing 20 .

The embodiment of the present application also provides an automatic bearing assembly method, including:

(1) Provide the bearing assembly to the first feeding mechanism 14 and the locking member 25 to the second feeding structure 15 .

Specifically, the bearing assembly includes bearing fittings and rollers for assembling the bearing 20 . Wherein, the first feeding mechanism 14 includes a bearing bracket 141 and a roller vibrating assembly 142 . The bearing bracket 141 is disposed on one side of the workbench 11 for placing bearing accessories. The roller vibrating assembly 142 is provided on the worktable 11 for providing the rollers placed in a predetermined direction.

In this embodiment, the bearing fittings at least include an oil seal 21 , a raceway flange cover 22 , a rotating shaft raceway 23 and a raceway base 24 . An oil seal tray 1411, a raceway flange cover tray 1412, a rotating shaft raceway tray 1413, and a raceway flange base tray 1414 are sequentially arranged on the bearing bracket 141, which are respectively used to hold the oil seal 21 and the raceway flange Cover 22, rotating shaft raceway 23, raceway flange base 24.

(2) Move the mobile robot 16 to the jaw replacement mechanism 13, and the first mechanical arm 161 and the second mechanical arm 162 automatically load the first jaw 131 and the second jaw 132 respectively.

Before performing step (2), the mobile robot 16 needs to scan the working area in advance and establish a three-dimensional model, and plan the walking path and operation steps of the mobile robot 16 in advance. Specifically, the laser navigator 163 scans the working area of the mobile robot 16 and builds a three-dimensional space map, the head camera 164 acquires the environmental image of the mobile robot 16 working area, and the controller obtains the three-dimensional space map and the head image according to the laser navigator 163. The environment image obtained by the internal camera 164 is used to establish a three-dimensional model, and the three-dimensional model is calculated and analyzed, and the walking path and operation steps of the mobile robot 16 are planned in advance.

Therefore, when the bearing fittings need to be clamped, the mobile robot 16 can move to the clamping jaw replacement mechanism 13 so that the first mechanical arm 161 and the second mechanical arm 162 can automatically install the first clamping jaw 131 and the second clamping jaw 132 respectively.

(3) The bearing fittings are respectively picked up from the first feeding mechanism 14 by the first jaw 131 and the second jaw 132 and transferred to the assembly positioning mechanism 12 .

Specifically, the mobile robot 16 moves to the side of the bearing bracket 141, the second mechanical arm 162 takes pictures of the position of the oil seal 21 with the arm camera 165, the first jaw 131 clamps the oil seal 21 from the oil seal tray 1411, and the second mechanical arm 162 The position of the raceway flange cover 22 is photographed with the arm camera 165 again, and the second jaw 132 clamps the raceway flange cover 22 from the raceway flange cover material tray 1412 . The mobile robot 16 moves to the side of the workbench 11, and the second mechanical arm 162 takes pictures of the position of the pressing shaft 1221 with the arm camera 165, and inserts it into the pressing shaft 1221, and the second mechanical arm 162 takes pictures of the raceway with the arm camera 165. At the positioning position of the flange cover 22 , the second jaw 132 puts the raceway flange cover 22 on the workbench 11 . The mobile robot 16 moves to the side of the bearing bracket 141 again, the second mechanical arm 162 uses the arm camera 165 to photograph the position of the rotating shaft raceway 23, and the first gripper 131 clamps the rotating shaft raceway from the rotating shaft raceway material tray 1413 23 , the second mechanical arm 162 uses the arm camera 165 to photograph the position of the raceway flange base 24 , and the second gripper 132 clamps the raceway flange base 24 from the raceway flange base 24 . The mobile robot 16 moves to the side of the workbench 11 again, the second mechanical arm 162 uses the arm camera 165 to photograph the positioning position of the raceway flange base 24, and the second jaw 132 places the raceway flange base 24 on the bearing seat 1212 , the second mechanical arm 162 uses the arm camera 165 to photograph the positioning position of the rotating shaft raceway 23, and the first gripper 131 places the rotating shaft raceway 23 on the positioning shaft 1211 to complete the partial assembly of the bearing fittings on the bearing 20.

(4) Move the robot to the gripper replacement mechanism again, the first mechanical arm automatically unloads the first gripper and automatically loads the third gripper.

Specifically, according to the walking path of the mobile robot 16 planned in advance, the robot 16 is moved to the gripper replacement mechanism 13 again, and the first gripper 131 is automatically unloaded and the loaded third gripper 133 is automatically loaded by the first mechanical arm 16 .

(5) The rollers are clamped multiple times from the first feeding mechanism 14 by the third jaw 133 and transferred to the designated position of the bearing fitting on the assembling and positioning mechanism 12 .

Specifically, the camera 1421 photographs the positions of the horizontal roller 26 and the vertical roller 27 on the vibration plate 1422, and the third jaw 133 clamps the horizontal roller 26 and the vertical roller multiple times from the vibration plate 1422 on the workbench 11. Sub 27. The second mechanical arm 162 uses the arm camera 165 to photograph the position of the raceway flange base 24 on the positioning jig 121, and the third jaw 133 crosses the horizontal roller 26 and the vertical roller 27 into the raceway flange base 24 , until the horizontal roller 26 and the vertical roller 27 are filled with the raceway flange base 24. The second manipulator 162 uses the arm camera 165 to shoot the assembled images of the horizontal rollers 26 and the vertical rollers 27 in the raceway flange base 24, so as to judge the horizontal rollers 26 and the vertical rollers in the raceway flange base 24. Whether the vertical rollers 27 meet the assembly requirements, if they do not meet the assembly requirements, the third jaw 133 will take the rollers that do not meet the assembly requirements back to the vibrating plate 1422; In 123, the pressed oil seal 21 is taken out, and the second mechanical arm 162 uses the arm camera 165 to photograph the positioning position of the pressed oil seal 21, and the pressed oil seal 21 is assembled at the designated position of the bearing fitting. The second jaw 132 grips the raceway flange cover 22 placed on the workbench 11, and hugs the outer diameter of the raceway flange cover 22 and the raceway flange base 24 tightly to ensure that the raceway flange cover 22 and the outer diameter of the raceway flange base 24 The coaxiality of the raceway flange base 24.

(6) Move the mobile robot 16 to the gripper replacement mechanism 13 again, the first mechanical arm 161 automatically unloads the third gripper 133 and automatically loads the fourth gripper 134 .

Specifically, according to the planned walking path of the mobile robot 16 in advance, the robot 16 is moved to the gripper replacement mechanism 13 again, and the third gripper 133 is automatically unloaded and the loaded fourth gripper 134 is automatically loaded by the first mechanical arm 16 .

(7) Clamp the locking part 25 from the second feeding mechanism 15 through the fourth jaw 134 and lock it on the bearing assembly, so as to complete the assembly of the bearing 20 .

Specifically, the second mechanical arm 162 uses the arm camera 165 to photograph the position of the locking member 25 in the second feeding mechanism 15, and the fourth jaw 134 clamps the locking member 25 from the second feeding mechanism 15, and the locking member 25 Locked at the designated position of the raceway flange cover 22 and the raceway flange base 24. Among them, the fourth jaw 134 is rotated by the sixth axis of the first mechanical arm 161 to output the rotational torque, and four locking pieces 25 are respectively installed in a diagonal manner, and the arm camera 165 of the second mechanical arm 162 is used to photograph the locking pieces 25 Lock the specified position, lock the locking member 25 at the specified position of the raceway flange cover 22 and the raceway flange base 24 .

In some embodiments, step (7), using the fourth jaw 134 to clamp the locking member 25 from the second feeding mechanism 15 and lock it to the bearing assembly, to complete the assembly of the bearing 20, further includes:

(7.1) Detecting whether the torque force of the first mechanical arm 161 driving the fourth jaw 134 to lock the locking member meets the first predetermined requirement.

When the torsional force reaches the first predetermined requirement, the second jaw grips and transfers the bearing that has reached the first predetermined requirement to the double-layer transportation line 19; The first predetermined request of the locking member to perform the locking.

Specifically, the torque detecting component 166 detects whether the torque output by the first mechanical arm 161 to the fourth jaw 134 to lock the locking member 25 does not meet the first predetermined requirement. The second clamping claw 132 grips and transfers the assembled bearings 20 that meet the first predetermined requirement to the double-layer transportation line 19 , and the fourth clamping claw 134 continues to lock the locking member 25 that does not meet the first predetermined requirement.

(7.2) Transport the assembled bearings 20 that meet the first predetermined requirement to the bearing testing mechanism 18 through the double-layer transport line 19 .

Specifically, the upper transport line 191 of the double-layer transport line 19 transports the assembled bearings 20 meeting the first predetermined requirement to the bearing inspection mechanism 17 .

In some embodiments, the step (7.2) transports the assembled bearing 20 meeting the first predetermined requirement to the bearing testing mechanism 17 through the double-layer transport line 19, and further includes:

The bearing detection mechanism 17 detects whether the bearings 20 transported by the double-layer transport line 19 meet the second predetermined requirement. Bearings 20 that meet the second predetermined requirement are placed on the double-layer transportation line 19, and bearings that do not meet the second predetermined requirement are placed in corresponding positions.

Specifically, the bearing detection mechanism 17 detects whether the assembled bearings 20 that meet the first predetermined requirement and are transported by the upper transportation line 191 of the double-layer transportation line 19 meet the second predetermined requirement. Bearings 20 that meet the second predetermined requirement are placed on the lower transportation line 192 . Bearings 20 that do not meet the second predetermined requirement are placed in a corresponding location, for example, a recycling area.

In some embodiments, the automatic bearing assembly method further includes:

Move the mobile robot 16 to the gripper replacement mechanism 13 again, and the first mechanical arm 16 automatically loads the first gripper 131 again. Under the cooperation of the first jaw 131 and the second jaw 132 , the three-dimensional force sensor 167 detects whether the rotational resistance of the bearing 20 meeting the second predetermined requirement on the double-layer transportation line 19 meets the third predetermined requirement. The double-layer transport line 19 transports the bearings meeting the third predetermined requirement to the corresponding position. The first jaw 131 or the second jaw 132 moves the bearings 20 that do not meet the third predetermined requirement to corresponding positions.

Specifically, the first jaw 131 clamps the raceway flange base 24, the second jaw 132 grabs the raceway flange cover 22, the second jaw 132 rotates 180 degrees clockwise, and the three-dimensional force sensor 167 detects that the bearing 20. Loosen after the rotation resistance is less than 5N. For example, after the second jaw 132 rotates clockwise 6 times, it rotates counterclockwise 6 times. If it is detected that the bearing 20 meets the third predetermined requirement, the bearing 20 that meets the third predetermined requirement is placed on the lower transportation line 192, and the lower transportation line 192 transports the assembled bearing 20 that meets the second predetermined requirement to the product storage mechanism 18. A gripper 131 or a second gripper 132 moves the bearings 20 that do not meet the third predetermined requirement to a corresponding position, for example, a recycling area.

In the bearing automatic assembly method provided in this embodiment, the mobile robot 16 automatically loads different types of jaws through the jaw replacement mechanism 13 of the first mechanical arm 161 and the second mechanical arm 162, and different types of jaws are respectively adapted to each bearing accessories and locking piece 25, and then realize the clamping and assembly of the bearing assembly and locking piece 25 under the mutual cooperation of the first mechanical arm 161 and the second mechanical arm 162, replacing the manual assembly method and effectively improving the assembly accuracy of the bearing and efficiency, reducing manpower requirements and realizing automation of bearing assembly.

It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and not restrictive in all points of view, and the scope of the application is defined by the appended claims rather than the foregoing description, and it is intended that the scope of the present application be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in this application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application without limitation. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be Make modifications or equivalent replacements without departing from the spirit and scope of the technical solutions of the present application.

Claims (14)

1. An automatic bearing assembly device, comprising:

a work table;

the assembly positioning mechanism is arranged on the workbench;

the clamping jaw replacing mechanism is arranged on the workbench and is used for providing a plurality of clamping jaws of different types;

The first feeding mechanism is arranged adjacent to the assembly positioning mechanism and is used for providing various bearing assemblies to be assembled;

the second feeding mechanism is arranged on the workbench and positioned at one side of the assembly positioning mechanism and is used for providing a locking piece for locking the bearing assembly;

the movable robot is arranged on one side of the workbench adjacently, the assembly positioning mechanism, the clamping jaw replacing mechanism, the first feeding mechanism and the second feeding mechanism are all arranged around the movable robot, and the movable robot comprises a first mechanical arm and a second mechanical arm which are mutually cooperated and used for automatically loading clamping jaws of different types on the clamping jaw replacing mechanism through the first mechanical arm and the second mechanical arm so as to clamp the bearing assembly and the locking piece from the first feeding mechanism and the second feeding mechanism and transfer the bearing assembly and the locking piece to the assembly positioning mechanism, and further assembly of the bearing is completed.

2. The automatic bearing assembling apparatus according to claim 1, wherein,

the bearing assembly comprises a bearing accessory for assembling a bearing, the first feeding mechanism comprises a bearing bracket, the bearing bracket is arranged on one side of the workbench and used for placing the bearing accessory, and the clamping jaw comprises a first clamping jaw and a second clamping jaw;

The mobile robot is used for automatically loading the first clamping jaw from the clamping jaw replacing mechanism through the first mechanical arm and automatically loading the second clamping jaw from the clamping jaw replacing mechanism through the second mechanical arm;

the first clamping jaw and the second clamping jaw cooperate with each other to clamp the bearing accessory from the bearing bracket of the first feeding mechanism and transfer the bearing accessory to the assembly positioning mechanism, so that partial assembly of the bearing accessory to the bearing is completed.

3. An automatic bearing assembling apparatus according to claim 2, wherein,

the bearing assembly further comprises a roller, the first feeding mechanism further comprises a roller vibration assembly, the roller vibration assembly is arranged on the workbench and used for providing the roller placed in a preset direction, and the clamping jaw comprises a third clamping jaw;

the mobile robot is used for automatically unloading a first clamping jaw from the clamping jaw replacing mechanism and automatically loading the third clamping jaw through the first mechanical arm so as to absorb the roller from the roller vibration assembly for a plurality of times and transfer the roller to the assembling and positioning mechanism, and further, the assembly of the roller to the bearing accessory is completed.

4. The automatic bearing assembly device of claim 3, wherein the third jaw comprises:

a first finger comprising a recessed tip;

the second clamping finger comprises a convex column suction head;

the roller comprises a transverse roller and a vertical roller, the groove suction head is used for sucking the transverse roller, the convex column suction head is used for sucking the vertical roller, the first clamping finger and the second clamping finger are allowed to suck the transverse roller and the vertical roller from the roller vibration assembly for multiple times respectively, the transverse roller and the vertical roller are transferred to the assembly positioning mechanism, and the transverse roller and the vertical roller are placed at the appointed position of the bearing accessory in a crossed mode.

5. The automatic bearing assembling apparatus according to claim 3, wherein,

the clamping jaw comprises a fourth clamping jaw, the mobile robot is used for automatically unloading the third clamping jaw from the clamping jaw replacing mechanism through the first mechanical arm and automatically loading the fourth clamping jaw, so that the locking piece is clamped from the second feeding mechanism for multiple times and is transferred to the assembling and positioning mechanism, and the locking piece is locked at a preset position of the bearing assembly under the cooperation of the second clamping jaw, so that the bearing assembly is completed.

6. The automatic bearing assembly device of claim 5, wherein the mobile robot further comprises:

the torsion detection component is arranged on the first mechanical arm and is used for detecting whether the torsion of the first mechanical arm driving the fourth clamping jaw to lock the locking piece meets a first preset requirement or not;

when the torque force does not meet the first preset requirement, the fourth clamping jaw continues to lock the locking piece which does not meet the first preset requirement; when the torque force reaches the first predetermined requirement, the second jaw brings the bearing, which is assembled, away from the assembly positioning mechanism.

7. The automatic bearing assembly device according to claim 6, further comprising:

the bearing detection mechanism is arranged on one side, far away from the mobile robot, of the assembly positioning mechanism and is used for detecting whether the assembled bearing meeting the first preset requirement meets a second preset requirement or not;

wherein the bearings meeting the second predetermined requirement and not meeting the second predetermined requirement are to be transferred to different positions, respectively.

8. The automatic bearing assembly device according to claim 7, further comprising:

The double-layer conveying line is arranged on the same side of the bearing detection mechanism and the workbench;

and when the torsion force reaches the first preset requirement, the second clamping jaw brings the assembled bearing away from the assembly positioning mechanism and transfers the assembled bearing to the double-layer conveying line, the double-layer conveying line conveys the assembled bearing reaching the first preset requirement to the bearing detection mechanism, and conveys the bearing meeting the second preset requirement away from the bearing detection mechanism.

9. The automatic bearing assembly device of claim 8, wherein the mobile robot further comprises:

the three-dimensional force sensor is arranged at the output end of the second mechanical arm and is used for detecting whether the rotation resistance of the bearing, which meets the second preset requirement, on the double-layer conveying line meets the third preset requirement under the mutual cooperation of the first clamping jaw and the second clamping jaw;

wherein the bearings meeting and not meeting the third predetermined requirement are to be transferred to different positions, respectively.

10. The automatic bearing assembly device of claim 9, wherein the mobile robot further comprises:

The arm camera is arranged on the second mechanical arm and used for acquiring an assembly image of the bearing in the assembly process so as to complete the assembly of the bearing.

11. An automatic bearing assembling method, applying the automatic bearing assembling device according to any one of claims 1 to 10, comprising:

providing a bearing assembly to the first feed mechanism and a lock to the second feed mechanism, wherein the bearing assembly comprises a bearing fitting and a roller;

moving the mobile robot to a clamping jaw replacing mechanism, and respectively and automatically loading a first clamping jaw and a second clamping jaw by a first mechanical arm and a second mechanical arm;

the bearing fittings are respectively clamped from the first feeding mechanism through the first clamping jaw and the second clamping jaw and are transferred to the assembling and positioning mechanism;

moving the robot to the clamping jaw replacing mechanism again, wherein the first mechanical arm automatically unloads the first clamping jaw and automatically loads the third clamping jaw;

the third clamping jaw clamps the roller from the first feeding mechanism for a plurality of times and transfers the roller to a designated position of a bearing fitting on the assembly positioning mechanism;

moving the mobile robot to the clamping jaw replacing mechanism again, and automatically unloading the third clamping jaw and automatically loading the fourth clamping jaw by the first mechanical arm;

And clamping the locking piece from the second feeding mechanism through the fourth clamping jaw and locking the locking piece to the bearing assembly so as to complete the assembly of the bearing.

12. The method of automatic assembly of bearings according to claim 11, wherein said step of clamping said locking member from said second feed mechanism by said fourth clamping jaw and locking to the bearing assembly to complete assembly of the bearings further comprises:

detecting whether the torque force of the first mechanical arm driving the fourth clamping jaw to lock the locking piece reaches a first preset requirement or not;

when the torsion reaches a first preset requirement, the second clamping jaw clamps and transfers the bearing reaching the first preset requirement to a double-layer conveying line; when the torsion force does not meet the first preset requirement, the fourth clamping jaw continuously locks a locking piece which does not meet the first preset requirement;

and transporting the assembled bearing meeting the first preset requirement to a bearing detection mechanism through the double-layer transportation line.

13. The automatic bearing assembly method according to claim 12, wherein the step of transporting the completed bearing, which meets the first predetermined requirement, to a bearing inspection mechanism by the double-layered transport line includes:

The bearing detection mechanism detects whether the bearing transported by the double-layer transportation line meets a second preset requirement or not;

and placing the bearing meeting the second preset requirement on the double-layer conveying line, and placing the bearing not meeting the second preset requirement at a corresponding position.

14. The automatic bearing assembly method of claim 13, further comprising:

moving the mobile robot to a clamping jaw replacing mechanism again, and automatically loading the first clamping jaw again by a first mechanical arm;

a three-dimensional force sensor detects whether the rotation resistance of the bearing meeting the second preset requirement on the double-layer conveying line meets a third preset requirement under the cooperation of the first clamping jaw and the second clamping jaw;

the double-layer conveying line conveys the bearing meeting the third preset requirement to a corresponding position;

the first clamping jaw or the second clamping jaw moves the bearing which does not meet the third preset requirement to a corresponding position.

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