A cv axle assembly automated assembly line

Abstract

The application discloses a CV shaft assembly automatic assembly line, which comprises a mobile end small clamp closing station, a three-pin joint installation station, a circlip press-fitting station, a fixed end sleeve installation station, a clamping wire assembly station, a fixed joint press-fitting station, a fixed end clamp assembly station, a shaft fork press-fitting station and a mobile end large clamp closing station.In the embodiment of the application, the CV shaft assembly automatic assembly line is adopted, the component assembly sequence of the CV shaft is adopted, installation interference between components is avoided, the working pace of each process tends to be close, the continuity and smoothness of the automobile CV shaft assembly process are realized, the assembly efficiency is greatly improved, the control data of each station in the automatic assembly process is recorded, data tracing of each process of the automobile CV shaft is realized, the problem can be quickly located when the problem occurs, an adjustment scheme can be timely made, and the output probability of defective products is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile accessory manufacturing, and in particular to a CV shaft assembly automatic assembly line. BACKGROUND

[0002] The automobile CV shaft, also known as half shaft or drive axle, is a solid axle for transmitting torque between the differential and the driving wheel, and its inner end is generally connected with the half shaft gear through a spline, and its outer end is connected with the wheel hub. The CV shaft commonly used in modern automobiles has two types of full-floating type and semi-floating type according to its support form, wherein the full-floating type CV shaft only transmits torque and does not bear any reaction force and bending moment, and thus is widely applied to various automobiles.

[0003] Based on the market demand for automobile production, the production and manufacturing speed of the CV shaft as an important component of the automobile has a great influence on the overall production efficiency of the automobile. The existing CV shaft is usually assembled manually, and the production efficiency is low, and it is difficult to guarantee the production quality. The data in the production process cannot be traced in real time, and at the same time, due to the limitation of the installation process of the CV shaft itself, the machine full-automatic assembly needs to coordinate and control each assembly process, and the beat balance is difficult. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a CV shaft assembly automatic assembly line with high automation degree and production efficiency.

[0005] To achieve the above object, the present application is realized by the following technical scheme.

[0006] The present application provides a CV shaft assembly automatic assembly line, which comprises:

[0007] A mobile end small clamp tightening station is arranged for automatic tightening of the mobile end small clamp on the solid shaft.

[0008] A three-pin joint installation station is arranged for press-fitting of the three-pin joint on the solid shaft.

[0009] A circlip press-fitting station is arranged for press-fitting of the circlip on the solid shaft.

[0010] A fixed end sleeve installation station is arranged for automatic press-fitting of the fixed end sleeve on the solid shaft.

[0011] A card wire assembly station is arranged for automatic installation of the card wire on the solid shaft.

[0012] A fixed joint press-fitting station is arranged for automatic press-fitting of the fixed joint on the solid shaft.

[0013] A fixed end clamp assembly station is arranged for fixed end large clamp necking.

[0014] The shaft fork press-fitting and moving end large clamp closing station is used for the grease injection of the shaft fork and the riveting and pressing on the solid shaft, and the necking of the moving end large clamp;

[0015] The robot unit is used for the reversing of the CV shaft components and the transferring between the stations on the multiple work stations;

[0016] The detection unit is used for detecting the CV shaft assembly product;

[0017] The CV shaft is sequentially press-fitted with the moving end sleeve and the moving end small clamp, the three-pin joint, the snap spring, the fixed end sleeve, the fixed joint, the fixed end large clamp, the shaft fork and the moving end large clamp on the solid shaft.

[0018] Further limited, the CV shaft assembly automatic assembly line, wherein, it further includes the automatic feeding work station of the solid shaft, the moving end sleeve, the moving end small clamp, the three-pin joint, the snap spring, the fixed end sleeve, the fixed end small clamp, the fixed joint, the fixed end large clamp and the shaft fork.

[0019] Further limited, the CV shaft assembly automatic assembly line, wherein, the automatic feeding work station of the moving end sleeve includes the moving end sleeve storage device and the moving end sleeve taking device;

[0020] The moving end sleeve storage device includes the cushion block fixedly arranged on the mounting frame, the index motor and the transmission table fixedly arranged on the cushion block, the rotating sleeve turntable arranged on the power output end of the transmission table, and the power input end of the transmission table connected with the power output shaft of the index motor;

[0021] The rotating sleeve turntable is arranged with a plurality of guide rods for stacking the moving end sleeves on the end face of the rotating sleeve turntable away from the cushion block and arranged in an annular array about the rotation axis of the rotating sleeve turntable;

[0022] The moving end sleeve storage device further includes the first sensing unit for detecting the number and pose of the moving end sleeves on the guide rods;

[0023] The moving end sleeve taking device includes the fixed base plate, the vertical main body fixedly arranged on the fixed base plate, the two transposition motors horizontally arranged and fixedly arranged on the vertical main body, the power end of the transposition motor connected with the screw rod rotationally connected with the fixed base plate, the first sliding table threadedly connected with one of the screw rods, and the second sliding table threadedly connected with the other screw rod and located on the side of the first sliding table away from the fixed base plate;

[0024] The vertical body is also horizontally arrayed and fixed with two longitudinal guides parallel to the screw rod, the first sliding table and the second sliding table are respectively in sliding connection with the two longitudinal guides, the first sliding table is fixedly installed with a transposition jaw assembly on the side end face away from the vertical body, the second sliding table is fixedly provided with a transverse guide perpendicular to the axial direction of the screw rod on the side end face away from the vertical body, an electric sliding block is slidably arranged on the transverse guide, and the electric sliding block is fixedly provided with a positioning jaw assembly on the side end face away from the vertical body.

[0025] The mobile end sheath material taking device further comprises a second sensing unit for positioning the mobile end sheath.

[0026] Further limited, the CV shaft assembly automatic assembly line, wherein the circlip press fitting station comprises a welded frame, the welded frame is provided with a clamping positioning mechanism for fixing a solid shaft, a circlip pre-assembly mechanism for pre-assembling the circlip on the sleeve head, and a press fitting detection mechanism for press fitting the circlip on the sleeve head on the solid shaft;

[0027] The press fitting detection mechanism comprises a main support installed on the welded frame through a lifting device, a press fitting cylinder is fixedly arranged on the main support, a press fitting support is fixedly arranged on the extension end of the press fitting cylinder, and a press sleeve is fixedly arranged on the side end face of the press fitting support away from the main support;

[0028] A lifting cylinder is also fixedly arranged on the main support, a lifting guide rod is fixedly connected on the extension end of the lifting cylinder, a through hole is through in the axial direction of the press sleeve, and the lifting guide rod passes through the press fitting support and the through hole of the press sleeve on the side end away from the lifting cylinder and can be installed with a sleeve head through a quick-change structure;

[0029] A detection cylinder is fixedly arranged on the side end face of the press fitting support away from the lifting cylinder, a detection sleeve is fixedly arranged on the extension end of the detection cylinder and is in sliding connection with the press sleeve;

[0030] The sleeve head is a rotary body and has a radius greater than the inner diameter of the circlip, the through hole in the press sleeve is in clearance fit with the circlip mounting end of the sleeve head, and a displacement gauge is arranged on the press fitting support for monitoring the stroke of the detection sleeve.

[0031] Further limited, the CV shaft assembly automatic assembly line, wherein the circlip pre-assembly mechanism comprises a connecting frame fixedly arranged on the welded frame and located between the press fitting detection mechanism and the clamping positioning mechanism, a sliding table is connected on the connecting frame through a first electric sliding rail, and the sliding table can slide linearly horizontally under the action of the first electric sliding rail;

[0032] The sliding table is fixedly provided with a follow-up support, and an upper feeding tool and a pushing assembly matched with the upper feeding tool are fixedly arranged on the follow-up support.

[0033] The pushing assembly comprises a pushing cylinder fixedly arranged on the follow-up support, the extension direction of the pushing cylinder is the same as the sliding direction of the sliding table, and a blanking plate is fixedly arranged on the extension end of the pushing cylinder.

[0034] A fixed rod is further fixedly arranged on the follow-up support, a supporting cylinder is fixedly arranged on the fixed rod, and a supporting claw is fixedly arranged on the extension end of the supporting cylinder.

[0035] The sliding table is further connected with a transition sliding table through a second electric sliding rail, the sliding direction of the transition sliding table is the same as that of the sliding table, and a limiting claw assembly is fixedly arranged on the transition sliding table.

[0036] The sleeve head can be clamped and fixed on the transition sliding table through the limiting claw assembly, and the supporting claw can pre-install the clasp on the sleeve head on the transition sliding table.

[0037] Further limitation, the CV shaft assembly automatic assembly line, wherein the fixed end clamp assembly station comprises:

[0038] The first fixed end clamp closing station is used for necking of the earless fixed end large clamp.

[0039] The first fixed end clamp closing station is also used for grease injection of the fixed end sleeve.

[0040] Further limitation, the CV shaft assembly automatic assembly line, wherein the fixed end clamp assembly station comprises:

[0041] The second fixed end clamp closing station is used for necking of the ear type fixed end large clamp.

[0042] The second fixed end clamp closing station is provided with a visual unit for detecting the position of the ear type on the fixed end large clamp.

[0043] Further limitation, the CV shaft assembly automatic assembly line, wherein the detection unit comprises:

[0044] The visual final inspection station is used for visual defect detection of the CV shaft assembly finished product.

[0045] The blanking and weighing table is used for weight detection of the CV shaft assembly finished product.

[0046] Further, in the CV axle assembly automatic assembly line, the robot unit comprises at least one robot and at least one clamping swing arm between two adjacent work stations.

[0047] The clamping swing arm is used for connecting the work station transfer between the two work stations, and can clamp and drive the workpiece to rotate and lift.

[0048] Further, in the CV axle assembly automatic assembly line, one of the robots is located at a corresponding position of the fixed end clamp assembly work station and is used for rejecting NG parts in the previous process.

[0049] The present application has at least the following advantages:

[0050] 1. The automobile CV axle assembly sequence avoids installation interference between parts, and makes the work rhythm of each process close to each other, thereby realizing the continuity and smoothness of the automobile CV axle assembly process, greatly improving the assembly efficiency, and through recording the control data of each work station in the automatic assembly process, the data of each process of the automobile CV axle can be traced back, so that the problem can be quickly located when the problem occurs, and the adjustment scheme can be made in time to reduce the probability of defective products;

[0051] 2. The automatic and continuous feeding of the movable end sleeve is realized by cooperation of the movable end sleeve storage device and the movable end sleeve taking device, which saves labor and greatly shortens the work rhythm, thereby effectively improving the assembly efficiency of the CV axle;

[0052] 3. The clasp is pre-installed on the sleeve head through the clasp pre-assembly mechanism, and the clasp on the sleeve head is further pressed on the real axle through the pressing detection mechanism, which is convenient for the overall rhythm cooperation of the assembly line, and the pressing state of the clasp is detected through the detection sleeve and the displacement ruler, so as to ensure the pressing precision of the clasp pressing. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The specific structure diagram of the CV axle assembly automatic assembly line of the embodiment of the present application is shown;

[0054] Figure 2 The simplified structure diagram of the CV axle assembly automatic assembly line of the embodiment of the present application is shown;

[0055] Figure 3 The structure diagram of the CV axle of the embodiment of the present application is shown;

[0056] Figure 4 The enlarged structure diagram of the "clasp 490" part in the CV axle of the embodiment of the present application is shown;

[0057] Figure 5Structure amplification schematic view of the "clasp 480" part in the CV shaft of the embodiment of the present application;

[0058] Figure 6 Structure schematic view of the "mobile end sheath storage device" in the "mobile end sheath and small clamp loading station OP10-1" of the embodiment of the present application;

[0059] Figure 7 Structure schematic view of the "mobile end sheath storage device" in the "mobile end sheath and small clamp loading station OP10-1" of the embodiment of the present application;

[0060] Figure 8 Structure schematic view of the "mobile end sheath storage device" in the "mobile end sheath and small clamp loading station OP10-1" of the embodiment of the present application;

[0061] Figure 9 Structure schematic view of the "mobile end sheath storage device" in the "mobile end sheath and small clamp loading station OP10-1" of the embodiment of the present application;

[0062] Figure 10 Structure schematic view of the "key matching mechanism" part in the "three-pin joint installation station OP20" of the embodiment of the present application;

[0063] Figure 11 Structure schematic view of the "pre-pressing jaw unit" part in the "key matching mechanism" of the embodiment of the present application;

[0064] Figure 12 Structure schematic view of the "positioning jaw unit" part in the "key matching mechanism" of the embodiment of the present application;

[0065] Figure 13 Structure cooperation schematic view of the "jaw block 213" and "guide arc groove 220" in the "positioning jaw" of the embodiment of the present application;

[0066] Figure 14 Structure schematic view of the "rotary positioning mechanism" part in the "positioning jaw" of the embodiment of the present application;

[0067] Figure 15 Structure schematic view of the "three-pin joint pressing mechanism" part in the "three-pin joint installation station OP20" of the embodiment of the present application;

[0068] Figure 16 Structure schematic view of the "floating joint 228" part in the "three-pin joint pressing mechanism" of the embodiment of the present application;

[0069] Figure 17 Structure schematic view of the "floating joint 228" part in the "three-pin joint pressing mechanism" of the embodiment of the present application;

[0070] Figure 18 Structure diagram of the "real shaft ejector pin 239" in the "three-pin press fitting mechanism" embodiment of the present application;

[0071] Figure 19 Structure diagram of the "spring press fitting work station OP30" in the present application embodiment;

[0072] Figure 20 Structure diagram of the "press fitting detection mechanism 320" in the "spring press fitting work station OP30" embodiment of the present application;

[0073] Figure 21 Structure sectional view of the "press fitting detection mechanism 320" in the "spring press fitting work station OP30" embodiment of the present application;

[0074] Figure 22 Structure diagram of the "spring pre-assembly mechanism 330" in the "spring press fitting work station OP30" embodiment of the present application;

[0075] Figure 23 Local enlarged diagram of the "spring pre-assembly mechanism 330" in the "spring press fitting work station OP30" embodiment of the present application.

[0076] Reference signs

[0077] OP10, mobile end small clamp tightening station; OP10-1, mobile end sheath and small clamp feeding station; OP10-2, three-pin joint feeding station; 111, sheath turntable; 112, guide rod; 113, indexing motor; 114, cushion block; 115, inductive block; 116, transmission table; 121, fixed bottom plate; 122, vertical station main body; 123, transposition motor; 124, screw rod; 125, electric sliding block; 126, positioning clamp jaw assembly; 127, transposition clamp jaw assembly; 128, first sliding table; 129, second sliding table; 130, transverse guide rail; 131, longitudinal guide rail; OP20, three-pin joint installation station; 201, first installation plate; 202, first telescopic cylinder; 203, cylinder mounting frame; 204, pressure reducing valve; 205, connecting flange; 206, three-finger clamp jaw; 207, clamping limit block; 208, first fixed support; 209, second telescopic cylinder; 210, link plate; 211, guide block; 212, limit disc; 213, clamp jaw block; 214, displacement sensor; 215, centering dowel pin; 216, track disc; 217, transmission gear; 218, transmission rack; 219, sliding pin; 220, guide arc groove; 221, central shaft; 222, shaft holding block; 223, third telescopic cylinder; 224, hinged seat; 225, pull rod; 226, servo press; 227, second installation plate; 228, floating joint; 229, transition shaft; 230, second fixed support; 231, tension and pressure sensor; 232, connecting head; 233, joint head; 234, connecting pin; 235, floating ball; 236, step seat; 237, ball head locking pin; 238, three-pin joint pressing head; 239, solid shaft dowel pin; OP30, spring press fitting station; OP30-1, spring feeding station; 310, welding frame; 320, press fitting detection mechanism; 321, main support; 322, lifting cylinder; 323, detection cylinder; 324, press fitting support; 325, lifting guide rod; 326, press sleeve; 327, detection sleeve; 328, sleeve head; 329, press cylinder; 330, spring pre-assembly mechanism; 331, connecting frame; 332, sliding table; 333, follow-up support; 334, material pushing cylinder; 335, feeding tooling; 336, fixed rod; 337, material supporting cylinder; 338, material supporting claw; 339, material falling plate; 340, transition sliding table; 341, limit claw assembly; 350, clamping positioning mechanism; OP40, fixed end sheath installation station; OP40-1, fixed end sheath and small clamp feeding station; OP50, spring assembly station; OP60, fixed joint press fitting station; OP60-1, fixed joint feeding station; OP70, first fixed end clamp closing station; OP70-1, first fixed end clamp feeding station; OP80, second fixed end clamp closing station; OP80-1, second fixed end clamp feeding station; OP90, shaft fork press fitting and mobile end large clamp closing station; OP90-1, shaft fork feeding station; OP100, solid shaft feeding unit;OP100-1, artificial loading table; OP110, vision final inspection station; OP200, rotating clamping swing arm; OP310, first robot; OP320, second robot; OP330, third robot; 410, three-pin joint; 420, solid shaft; 431, fixed end small clamp; 432, movable end small clamp; 441, fixed end sleeve; 442, movable end sleeve; 451, fixed end large clamp; 452, movable end large clamp; 460, fixed joint; 470, shaft fork; 480, clamping spring; 490, clamping wire; OP500, electric control box platform; OP600, blanking and weighing table. DETAILED DESCRIPTION

[0078] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0079] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0080] The three-pin joint mounting station for CV shaft assembly provided by the embodiments of the present application will be described in detail below in combination with the drawings, through specific embodiments and application scenarios.

[0081] The embodiments of the present application provide a CV shaft assembly automatic assembly line, such as Figures 3 to 5As shown, the automobile CV shaft includes a solid shaft 420 and a fixed joint 460 and a shaft fork 470 mounted at both ends of the solid shaft 420 respectively, and a fixed end sleeve 441 and a moving end sleeve 442 are further sleeved on the solid shaft 420, wherein the fixed end sleeve 441 is clamped between the solid shaft 420 through a fixed end small clamp 431 and between the fixed joint 460 through a fixed end large clamp 451, the moving end sleeve 442 is clamped between the solid shaft 420 through a moving end small clamp 432 and between the shaft fork 470 through a moving end large clamp 452, a three-pin joint 410 is mounted on one end of the solid shaft 420 relative to the shaft fork 470, a clamping spring 480 for limiting the three-pin joint 410 is sleeved on the solid shaft 420, and a clamping wire 490 for limiting the fixed joint 460 is sleeved on one end of the solid shaft 420 relative to the fixed joint 460.

[0082] As can be seen from the above, the automobile CV shaft is cooperated with each other due to the component structure, so the installation of each component structure needs to follow a specific process sequence.

[0083] As shown in Figure 1 , Figure 2 The CV shaft assembly automatic assembly line provided by the application comprises, in sequence according to the process, the following:

[0084] The artificial loading table OP100-1 is used for artificial hanging of the solid shaft 420 on the solid shaft loading unit OP100.

[0085] The solid shaft loading unit OP100 is used for storage and periodic automatic loading of the solid shaft 420.

[0086] The moving end sleeve and small clamp loading work station OP10-1 is used for storage and periodic automatic loading of the moving end sleeve 442 and the moving end small clamp 432.

[0087] The three-pin joint loading work station OP10-2 is used for storage and periodic automatic loading of the three-pin joint 410 inside the shaft fork 470.

[0088] The moving end small clamp tightening station OP10 is used for automatic tightening of the moving end sleeve 442 on the solid shaft 420 and the moving end small clamp 432 on the solid shaft 420.

[0089] The three-pin joint installation station OP20 is used for press fitting of the three-pin joint 410 on the solid shaft 420.

[0090] The clamping spring loading work station OP30-1 is used for storage and periodic automatic loading of the clamping spring 480.

[0091] The clamping spring press fitting work station OP30 is used for press fitting of the clamping spring 480 on the solid shaft 420.

[0092] Fixed end sheath and small clamp feeding station OP40-1, used for the storage and periodic automatic feeding of the fixed end sheath 441 and the fixed end small clamp 431;

[0093] Fixed end sheath installation station OP40, used for the automatic press fitting of the fixed end sheath 441 on the solid shaft 420;

[0094] Wire clamping assembly station OP50, used for the automatic installation of the wire clamp 490 on the solid shaft 420;

[0095] Fixed section feeding station OP60-1, used for the storage and periodic automatic feeding of the fixed section 460;

[0096] Fixed section press fitting station OP60, used for the automatic press fitting of the fixed section 460 on the solid shaft 420;

[0097] First fixed end clamp feeding station OP70-1, used for the automatic feeding of the fixed end large clamp 451 on the regular fixed end sheath 441;

[0098] First fixed end clamp closing station OP70, used for the necking of the fixed end large clamp 451 on the regular fixed end sheath 441, the necking of the fixed end large clamp 451 on the T-shaped fixed end sheath 441, and the grease injection on the fixed end sheath 441;

[0099] Second fixed end clamp feeding station OP80-1, used for the automatic feeding of the fixed end large clamp 451 on the T-shaped fixed end sheath 441;

[0100] Second fixed end clamp closing station OP80, used for the automatic clamping of the fixed end small clamp 431 and the fixed end large clamp 451 on the T-shaped fixed end sheath 441;

[0101] Shaft fork feeding station OP90-1, used for the storage and periodic automatic feeding of the shaft fork 470;

[0102] Shaft fork press fitting and moving end large clamp closing station OP90, used for the grease injection and rivet press fitting of the shaft fork 470 on the solid shaft 420, and the necking of the moving end large clamp 452;

[0103] Visual final inspection station OP110, used for the visual inspection of the automobile CV shaft assembly finished product;

[0104] Discharging and weighing table OP600, used for the weight detection of the automobile CV shaft assembly finished product.

[0105] The control box platform OP500 connected to each work station, the robot unit for transferring the CV shaft components between the work stations on multiple work stations, the robot unit including a first robot OP310, a second robot OP320, a third robot OP330, and a clamping swing arm OP200, the first robot OP310 being located at a corresponding position of the mobile end small clamp closing station OP10 and the three-pin joint installation station OP20, the second robot OP320 being located at a corresponding position of the second fixed end clamp closing station OP80, the third robot OP330 being located at a corresponding position of the shaft fork pressing and mobile end large clamp closing station OP90 and the visual final inspection station OP110, and the clamping swing arm OP200 being provided with multiple clamping swing arms and located between the three-pin joint installation station OP20 and the circlip pressing station OP30, between the fixed joint pressing station OP60 and the first fixed end clamp closing station OP70, between the first fixed end clamp closing station OP70 and the second fixed end clamp closing station OP80, and between the second fixed end clamp closing station OP80 and the shaft fork pressing and mobile end large clamp closing station OP90.

[0106] It can be understood that the clamping swing arm OP200 is used to connect the work stations between the corresponding two work stations, and the clamping swing arm OP200 is rotatable, liftable, and has a telescopic clamping function (in a retracted state, the workpiece on the first work station is clamped, then the workpiece is rotated, extended, and placed on the second work station).

[0107] It can be understood that in the weight detection of the automobile CV shaft assembly finished product by the blanking and weighing table OP600, on the one hand, whether there is a part missing in the assembly process of the automobile CV shaft can be judged by weight, and on the other hand, whether the grease injection is qualified can be detected, so as to further optimize the quality of the automobile CV shaft finished product.

[0108] In the embodiment of the application, the CV shaft assembly automatic assembly line and the automobile CV shaft assembly sequence are used, which not only avoids the installation interference between the parts, but also makes the working rhythm of each process close to each other, thereby realizing the continuity and smoothness of the automobile CV shaft assembly process, greatly improving the assembly efficiency, and through the recording of the control data of each work station in the automatic assembly process, the data of each process of the automobile CV shaft can be traced back, so that when a problem occurs, the problem can be quickly located, and the adjustment scheme can be made in time, thereby reducing the probability of defective products.

[0109] In a preferred embodiment, as Figure 6 , Figure 7As shown, the mobile end sheath and small clamp loading work station OP10-1 includes a mobile end sheath storage device and a mobile end sheath taking device, wherein the mobile end sheath storage device includes a cushion block 114 fixedly arranged on a mounting frame, the cushion block 114 is fixedly installed with an indexing motor 113 and a transmission table 116, the transmission table 116 is rotationally arranged with a sheath turntable 111 on the power output end, and the power input end is connected with the power output shaft of the indexing motor 113.

[0110] The sheath turntable 111 is rotationally arranged with a plurality of guide rods 112 on the side end face away from the cushion block 114 in an annular array about the rotation axis of the sheath turntable 111, and the mobile end sheath 442 can be sleeved on the guide rods 112.

[0111] The sheath turntable 111 is further fixedly arranged with a sensing block 115, which is used for sensing the rotation angle of the sheath turntable 111, i.e. controlling the rotation angle of the sheath turntable 111 in a rotation period to be exactly equal to the annular array angle of the guide rods 112.

[0112] When the mobile end sheaths 442 are stacked on the guide rods 112, the mobile end sheath taking device will grab the mobile end sheaths 442 on the guide rods 112 in the predetermined position from top to bottom, and when the mobile end sheaths 442 on the guide rods 112 are grabbed, the indexing motor 113 is rotated and drives the sheath turntable 111 to rotate for one working period through the transmission table 116, i.e. the guide rods 112 in the predetermined position are replaced so that the mobile end sheath taking device continuously grabs the mobile end sheaths 442.

[0113] It can be understood that the mobile end sheath storage device further includes a first sensing unit for detecting the number and pose of the mobile end sheaths 442 on the guide rods 112, and when the first sensing unit detects that the mobile end sheaths 442 on the guide rods 112 in the predetermined position are grabbed, the indexing motor 113 can be controlled to rotate for one working period, so as to realize the replacement of the guide rods 112 in the predetermined position.

[0114] Meanwhile, when the first sensing unit detects that the mobile end sheaths 442 on the guide rods 112 are insufficient or the pose is abnormal, the first sensing unit can send a prompt signal to the control end, so as to facilitate the staff to supplement the material and monitor the working state.

[0115] In a preferred embodiment, as shown in Figure 8 , Figure 9As shown, the mobile end sheath taking device comprises a fixed base plate 121 fixedly arranged on the ground, a vertical body 122 fixedly arranged on the end face of the fixed base plate 121 away from the ground, two transposition motors 123 horizontally arrayed and fixedly arranged on the vertical body 122, and a screw rod 124 rotationally connected with the fixed base plate 121 and connected with the power end of the transposition motor 123. One of the screw rods 124 is threadedly connected with a first sliding table 128, and the other screw rod 124 is threadedly connected with a second sliding table 129 located on the side of the first sliding table 128 away from the fixed base plate 121.

[0116] The vertical body 122 is further horizontally arrayed and fixedly provided with two longitudinal guide rails 131 parallel to the screw rod 124. The first sliding table 128 and the second sliding table 129 are respectively slidably connected with the two longitudinal guide rails 131. The first sliding table 128 is fixedly provided with a transposition jaw assembly 127 on the end face of the first sliding table 128 away from the vertical body 122. The second sliding table 129 is fixedly provided with a transverse guide rail 130 on the end face of the second sliding table 129 away from the vertical body 122, and the length direction of the transverse guide rail 130 is perpendicular to the axial direction of the screw rod 124. An electric sliding block 125 is slidably arranged on the transverse guide rail 130, and the electric sliding block 125 is fixedly provided with a positioning jaw assembly 126 on the end face of the electric sliding block 125 away from the vertical body 122.

[0117] When the mobile end sheath taking device takes the mobile end sheath 442 on the mobile end sheath storage device, the transposition jaw assembly 127 clamps the mobile end sheath 442 at the bottom of the guide rod 112. At this time, the corresponding transposition motor 123 drives the screw rod 124 to rotate to drive the first sliding table 128 to move away from the ground by a unit distance, so as to move the mobile end sheath 442 at the top of the guide rod 112 to a predetermined clamping position. After the positioning jaw assembly 126 clamps the mobile end sheath 442 at the predetermined clamping position, the corresponding transposition motor 123 drives the screw rod 124 to rotate to drive the second sliding table 129 to move away from the ground to reach a transition station. Then, the electric sliding block 125 moves to drive the mobile end sheath 442 on the positioning jaw assembly 126 to move to the next station, that is, the mobile end sheath 442 is moved to the corresponding station of the mobile end small clamp tightening station OP10 to realize the installation of the mobile end sheath 442 on the real shaft 420.

[0118] During the resetting process of the positioning jaw assembly 126, the transposition jaw assembly 127 moves away from the ground by a unit distance again, so that the mobile end sheath 442 at the top of the guide rod 112 is always located at the predetermined clamping position. Of course, the unit distance of the movement of the transposition jaw assembly 127 depends on the stacking distance of the mobile end sheath 442 itself.

[0119] It can be understood that the mobile end sheath taking device further comprises a second sensing unit for positioning the mobile end sheath 442, and the transposition gripper assembly 127 determines the position and state of the mobile end sheath 442 at the bottom of the guide rod 112 through the second sensing unit. In order to avoid the error of the stacking distance of the mobile end sheath 442 on the guide rod 112, the second sensing unit can also be configured to sense the pose of the mobile end sheath 442 at the predetermined clamping position, so as to ensure the clamping accuracy of the positioning gripper assembly 126 on the mobile end sheath 442.

[0120] In the embodiment of the application, the CV shaft assembly automatic assembly line described above is adopted, and the automatic and continuous feeding of the mobile end sheath 442 is realized through cooperation of the mobile end sheath storage device and the mobile end sheath taking device. The labor is saved, the working rhythm is greatly shortened, and the assembly efficiency of the CV shaft is effectively improved.

[0121] In a preferred embodiment, in the three-pin joint feeding station OP10-2, the three-pin joint 410 is fed while being detected in the forward direction (one side of the three-pin joint 410 is chamfered, and the other side is not chamfered, in order to avoid manual feeding errors, the front and back surfaces need to be detected), and the specific detection method is to use a conical pressure head to press down, and the depth of pressing into the three-pin joint 410 is monitored by a displacement gauge. Since the pressure head is a conical surface, if the chamfered surface (the front surface of the three-pin joint 410) is pressed, it will be pressed a little deeper, otherwise it will be pressed a little shallower. If it is detected that the back surface of the three-pin joint 410 is upward, it is rejected, so as to ensure the accuracy of the feeding posture of the three-pin joint 410.

[0122] At the same time, in the three-pin joint feeding station OP10-2, an inner support type clamping method is used when the three-pin joint 410 is fed, and the change of the inner diameter (internal spline) is displayed by the displacement gauge. If the inner diameter of the three-pin joint 410 exceeds the error range, it is rejected, so as to realize the inner diameter mistake-proof detection of the three-pin joint 410.

[0123] In a preferred embodiment, in the three-pin joint installation station OP20, as shown in Figures 10 to 18 The press fitting of the three-pin joint 410 is divided into two parts of pre-pressing of the spline and pressing, that is, the spline mechanism and the three-pin joint press fitting mechanism. Through the disassembly of the process, the working rhythm can be improved, the assembly efficiency can be improved, and the assembly accuracy can be ensured.

[0124] In a preferred embodiment, in the three-pin joint installation station OP20, as shown in Figures 10 to 18As shown, the spline matching mechanism includes a pre-pressing jaw unit and a matching jaw unit, wherein the pre-pressing jaw unit is used for clamping the three-pin joint 410, and the matching jaw unit is used for clamping the solid shaft 420. Through the relative movement of the pre-pressing jaw unit and the matching jaw unit, the pre-pressing of the three-pin joint 410 on the solid shaft 420 can be realized, and at the same time, the matching jaw unit can drive the solid shaft 420 to rotate, thereby realizing the spline matching action of the solid shaft 420 and the three-pin joint 410.

[0125] As shown in Figure 10 , Figure 11 As shown, the pre-pressing jaw unit includes a first mounting plate 201 mounted on the overall frame of the three-pin joint mounting station OP20, and a cylinder mounting bracket 203 is fixedly arranged on the first mounting plate 201. A first telescopic cylinder 202 is fixedly arranged on the cylinder mounting bracket 203, a connecting flange 205 is fixedly arranged on the telescopic end of the first telescopic cylinder 202, and a three-finger jaw 206 is arranged on the side end face of the connecting flange 205 away from the first telescopic cylinder 202. A clamping limiting block 207 for clamping and limiting the three-pin joint 410 is clamped in the three-finger jaw 206.

[0126] The pre-pressing jaw unit further includes a pressure reducing valve 204 fixedly arranged on the first mounting plate 201 and coupled with the first telescopic cylinder 202. By controlling the pressure reducing valve 204, the telescopic movement of the first telescopic cylinder 202 can be realized. A displacement sensor 214 for detecting the telescopic stroke of the first telescopic cylinder 202 is fixedly arranged on the cylinder mounting bracket 203.

[0127] When the clamping limiting block 207 clamps the three-pin joint 410, the three-pin joint 410 can be moved towards the solid shaft 420 side by the first telescopic cylinder 202, thereby realizing the pre-pressing of the three-pin joint 410 and the solid shaft 420. It can be understood that the clamping limiting block 207 has a certain floating space in the three-finger jaw 206, thereby making the three-pin joint 410 and the solid shaft 420 have better position tolerance during the spline matching process, and improving the installation success rate of the three-pin joint 410 and the solid shaft 420.

[0128] In a preferred embodiment, as shown in Figures 12 to 14 The matching jaw mechanism includes a first fixed support 208 mounted on the overall frame of the three-pin joint mounting station OP20, and a central shaft 221 parallel or coaxial with the telescopic direction of the first telescopic cylinder 202 is rotatably arranged on the first fixed support 208. A jaw driving assembly for clamping the solid shaft 420 and a matching rotating assembly for driving the jaw driving assembly and the solid shaft 420 to rotate are arranged on the central shaft 221.

[0129] The clamping jaw driving assembly comprises an adapter plate 210 fixed on the central shaft 221, a second telescopic cylinder 209 and a guide block 211 fixed on the adapter plate 210, a transmission rack 218 fixed on the telescopic end of the second telescopic cylinder 209 and in sliding connection with the guide block 211, a track disc 216 rotatably arranged on the central shaft 221, a transmission gear 217 fixed on the end face of the track disc 216 close to the adapter plate 210 and in meshing connection with the transmission rack 218, and three guide arc grooves 220 annularly arranged on the end face of the transmission gear 217 away from the adapter plate 210 and about the central shaft 221.

[0130] The clamping jaw driving assembly further comprises a limiting disc 212 fixed on the central shaft 221 and located on the side of the track disc 216 away from the adapter plate 210, three clamping jaw blocks 213 annularly arranged on the limiting disc 212 and about the central shaft 221, the clamping jaw blocks 213 embedded in the limiting disc 212 and capable of moving radially about the limiting disc 212, and a slide pin 219 fixed on the end face of each clamping jaw block 213 close to the adapter plate 210, the slide pins 219 on the three clamping jaw blocks 213 sliding in the three guide arc grooves 220 on the track disc 216 respectively.

[0131] The central shaft 221 is fixed with a centering thimble 215 on the side end of the clamping jaw blocks 213, when the solid shaft 420 is placed between the three clamping jaw blocks 213 and the centering thimble 215 abuts against the center point of the end of the solid shaft 420, the second telescopic cylinder 209 can drive the transmission rack 218 to move relative to the guide block 211, when the transmission rack 218 moves, the transmission gear 217 and the track disc 216 are driven to rotate, when the track disc 216 rotates, the position of the slide pin 219 in the guide arc groove 220 changes due to the position change of the guide arc groove 220, and the three clamping jaw blocks 213 are drawn towards the central shaft 221 due to the arc degree of the track of the guide arc groove 220, thereby realizing stable clamping of the solid shaft 420.

[0132] In the embodiment, the three-pin joint mounting station OP20 is used, the pre-pressing clamping jaw unit and the alignment clamping jaw unit are used to realize pre-pressing of the solid shaft 420 and the three-pin joint 410, the pre-pressing clamping jaw unit has a floating mechanism to improve the tolerance of the three-pin joint 410 and the solid shaft 420, the alignment clamping jaw unit uses gear transmission and track groove guidance to realize synchronous clamping of the three clamping jaw blocks 213, thereby effectively ensuring the coaxiality of the solid shaft 420 after clamping and further ensuring the connection precision of the solid shaft 420 and the three-pin joint 410.

[0133] In a preferred embodiment, as Figure 14As shown, the alignment rotating assembly includes a hinge seat 224 fixedly arranged on the first fixed support 208 and located on the end face of the first fixed support 208 away from the jaw block 213, a third telescopic cylinder 223 is hingedly arranged on the hinge seat 224, a pull rod 225 is fixedly arranged on the telescopic end of the third telescopic cylinder 223, a shaft holding block 222 is hingedly arranged on the side end of the pull rod 225 away from the third telescopic cylinder 223, and the shaft holding block 222 is fixedly sleeved on the corresponding end of the central shaft 221. It can be understood that the telescopic direction of the third telescopic cylinder 223 does not pass through the axis of the central shaft 221.

[0134] In the embodiment of the present application, the three-pin joint mounting station OP20 is used, when the third telescopic cylinder 223 is telescoped to drive the pull rod 225 to move, since the telescopic direction of the third telescopic cylinder 223 does not pass through the axis of the central shaft 221, the pull rod 225 drives the shaft holding block 222 and the central shaft 221 to rotate, thereby driving the limiting disc 212, the jaw block 213 and the solid shaft 420 to rotate, and the key alignment action with the three-pin joint 410 can be realized by adjusting the rotation of the solid shaft 420.

[0135] It can be understood that when the pre-pressing jaw unit and the alignment jaw unit respectively clamp the three-pin joint 410 and the solid shaft 420, the telescopic direction of the first telescopic cylinder 202 is coaxial with the central shaft 221, before the key alignment and pre-pressing of the three-pin joint 410 and the solid shaft 420, since the pre-pressing jaw unit and the alignment jaw unit need to respectively perform the clamping action on the three-pin joint 410 and the solid shaft 420, they are not on the above-mentioned station before the key alignment and pre-pressing. In short, the pre-pressing jaw unit or the alignment jaw unit is provided with a transposition mechanism in the horizontal direction as shown, so that after clamping the three-pin joint 410 or the solid shaft 420 in other stations, it is transferred to the above-mentioned station to realize the key alignment and pre-pressing.

[0136] It can be understood that in the above-mentioned scheme, the pre-pressing jaw unit is used to provide displacement in the pre-pressing direction, and in its arrangement, a pre-pressing displacement assembly can also be arranged on the alignment jaw unit, that is, the pre-pressing jaw unit is only used for floating clamping the three-pin joint 410, and the alignment jaw unit is used for clamping, key alignment and providing displacement in the pre-pressing direction of the solid shaft 420, as long as the corresponding execution actions of the three-pin joint 410 and the solid shaft 420 can be realized, which is not specifically limited here.

[0137] In a preferred embodiment, in the three-pin joint mounting station OP20, as shown, Figures 14 to 18 The three-pin joint pressing mechanism includes a floating pressing unit and a supporting jaw unit, wherein the floating pressing unit is used to apply a pressing force in the pressing direction to the three-pin joint 410, and the supporting jaw unit is used to clamp the solid shaft 420 of the pre-pressed three-pin joint 410.

[0138] The floating pressing unit comprises a second mounting plate 227 mounted on the overall frame of the three-pin joint mounting station OP20, a servo press 226 fixedly arranged on the second mounting plate 227, a connecting head 232 fixedly arranged on the telescopic end of the servo press 226, a floating joint 228 fixedly arranged on the side end face of the servo press 226 close to the support jaw unit, a connecting pin 234 throughly arranged on the floating joint 228, a floating ball 235 arranged in the floating joint 228 and fixedly connected with the connecting pin 234, and a joint head 233 sleeved on the floating ball 235. It can be understood that the floating ball 235 can relatively roll in the joint head 233.

[0139] The joint head 233 is fixedly arranged on the side end away from the floating joint 228, and a transition shaft 229 is fixedly arranged on the side end away from the floating joint 228. The floating pressing unit further comprises a second fixed support 230 mounted on the overall frame of the three-pin joint mounting station OP20, a tension and pressure sensor 231 mounted on the second fixed support 230, and the transition shaft 229 connected with the corresponding side sensing end of the tension and pressure sensor 231. A stepped seat 236 is connected and arranged on the side sensing end of the tension and pressure sensor 231 away from the transition shaft 229, a three-pin joint pressing head 238 is fixedly arranged on the stepped seat 236 through a ball head locking pin 237, and a solid shaft thimble 239 is elastically arranged on the side end face of the stepped seat 236 away from the transition shaft 229.

[0140] When the servo press 226 is started and drives the solid shaft thimble 239 to abut against the center of the end face of the solid shaft 420, with the continuous extension of the servo press 226, the three-pin joint pressing head 238 will abut against the three-pin joint 410 and press the three-pin joint 410 and the solid shaft 420. In the pressing process of the three-pin joint 410 and the solid shaft 420, since the joint head 233 can roll relative to the floating ball 235, the structures corresponding to the two side sensing ends of the tension and pressure sensor 231 can be different shafts in the pressing process of the three-pin joint 410 and the solid shaft 420. At this time, the tension and pressure sensor 231 can record the deviation of the two side sensing ends, so as to record the assembly parameters of the three-pin joint 410 and the solid shaft 420, and facilitate subsequent error analysis and problem tracing.

[0141] In a preferred embodiment, in the three-pin joint mounting station OP20, as shown in Figure 14 The structure of the support jaw unit is similar to that of the alignment jaw unit, and the difference between the two is that the support jaw unit does not need to be provided with an alignment rotating assembly, that is, the support jaw unit only needs a jaw driving assembly to realize the clamping of the solid shaft 420.

[0142] It can be understood that, since the three-pin press fitting mechanism and the spline matching mechanism are arranged on the same work station, the three-pin press fitting mechanism and the spline matching mechanism can share the clamping jaw unit of the real shaft 420 under the condition that the beat is allowed, at this time, the quick-change structure of the floating pressing unit and the pre-pressing jaw unit needs to be increased, when the pre-pressing jaw unit completes the spline matching of the three-pin section 410 and the real shaft 420 and the pre-pressing work, it is directly switched to the floating pressing unit to realize the further pressing of the three-pin section 410 and the real shaft 420, through the setting mode, the working efficiency of the three-pin section installation station OP20 single station can be improved, but if the beat is not coordinated, the single installation process may occupy too long time, which is not conducive to the overall assembly efficiency of the automobile CV shaft.

[0143] In a preferred embodiment, in the snap spring press fitting work station OP30, the snap spring 480 is a circular cross-section sheet, which is press fitted into the snap spring groove of the real shaft 420, and the feeding mode of the snap spring 480 adopts a feeding rod, that is, the snap spring 480 is manually stacked on the feeding rod, and the single snap spring 480 is pushed out through the air pump.

[0144] In a preferred embodiment, as shown in Figures 19 to 21 , the snap spring press fitting work station OP30 includes a welded frame 310 fixedly arranged on the ground, the welded frame 310 is provided with a clamping positioning mechanism 350 for fixing the real shaft 420, a snap spring pre-assembly mechanism 330 for pre-assembling the snap spring 480 on the sleeve head 328, and a press fitting detection mechanism 320 for press fitting the snap spring 480 on the sleeve head 328 on the real shaft 420.

[0145] As shown in Figure 20 , Figure 21 , the press fitting detection mechanism 320 includes a main support 321 installed on the welded frame 310 through a lifting device, the main support 321 is fixedly provided with a press fitting air cylinder 329 on the side end face close to the ground, the press fitting air cylinder 329 is fixedly provided with a press fitting support 324 at the telescopic end, a guide rod assembly is arranged between the press fitting support 324 and the main support 321, and the press fitting support 324 is fixedly provided with a press sleeve 326 on the side end face away from the main support 321.

[0146] It can be understood that, through the lifting device, the main support 321 can be vertically lifted relative to the welded frame 310, the guide rod assembly is mainly used for guiding the movement of the press fitting support 324 when the press fitting air cylinder 329 telescopic end drives the press fitting support 324 to move, so that the movement of the press fitting support 324 and the press sleeve 326 is more stable.

[0147] The main support 321 is also fixed with a lifting cylinder 322 in the same extension direction as the pressing cylinder 329, and a lifting guide rod 325 coaxial with the pressing sleeve 326 is fixedly connected to the extension end of the lifting cylinder 322. The pressing sleeve 326 penetrates through a through hole in the axial direction, and the lifting guide rod 325 penetrates through the through hole of the pressing sleeve 326 and can be installed with the sleeve head 328 through the quick-change structure.

[0148] The sleeve head 328 is a rotary body, and the radius of the end away from the lifting guide rod 325 is greater than the inner diameter of the snap spring 480. Meanwhile, the through hole in the pressing sleeve 326 is in clearance fit with the end of the sleeve head 328 away from the lifting guide rod 325.

[0149] The quick-change structure includes a quick-change sleeve fixedly arranged on the inner wall of the through hole of the pressing sleeve 326 and in sliding connection with the lifting guide rod 325. The quick-change sleeve is provided with a stepped groove at the end away from the lifting cylinder 322. From the lifting cylinder 322 to the ground side, the diameter of the stepped groove in the quick-change sleeve gradually increases. The lifting guide rod 325 is provided with a plug-in hole at the end away from the lifting cylinder 322. A plurality of ball grooves are penetratingly arranged between the inner wall of the plug-in hole and the outer cylindrical surface of the lifting guide rod 325. The ball grooves contain limiting balls capable of abutting against the inner wall of the stepped groove in the quick-change sleeve. The sleeve head 328 is provided with a limiting groove at the side end matched with the quick-change assembly, which is capable of cooperating with the limiting ball.

[0150] It can be understood that when the sleeve head 328 is installed on the lifting guide rod 325, the limiting balls are located in the limiting groove in the sleeve head 328 under the abutting action of the inner wall of the smaller diameter section of the stepped groove, so as to realize the clamping quick installation of the sleeve head 328 on the lifting guide rod 325. When the sleeve head 328 is disassembled from the lifting guide rod 325, the relative position between the lifting guide rod 325 and the quick-change sleeve changes, i.e. the limiting balls move to the inner wall of the larger diameter section of the stepped groove. At this time, the abutting of the limiting balls by the stepped groove is released, so that the limiting balls are separated from the limiting groove in the sleeve head 328, i.e. the clamping of the sleeve head 328 and the lifting guide rod 325 is released, and the sleeve head 328 can be directly disassembled from the lifting guide rod 325 to realize quick change.

[0151] The pressing support 324 is fixedly provided with a detection cylinder 323 at the end away from the lifting cylinder 322, which is in the same extension direction as the pressing cylinder 329. The detection cylinder 323 is fixedly arranged at the extension end of the detection cylinder 323 and is sleeved on the pressing sleeve 326 and in sliding connection with the pressing sleeve 326. The pressing support 324 is also provided with a displacement gauge for monitoring the stroke of the detection sleeve 327.

[0152] As Figure 22 , Figure 23As shown, the clamp spring preloading mechanism 330 comprises a connecting frame 331 fixedly arranged on the welding frame 310 and located between the press-fitting detection mechanism 320 and the clamping positioning mechanism 350, a sliding table 332 is connected to the connecting frame 331 through an electric sliding rail on the side end face away from the ground, the sliding table 332 can slide linearly horizontally under the action of the electric sliding rail, a follow-up bracket 333 is fixedly arranged on the side end face away from the ground of the sliding table 332, a feeding tool 335 and a pushing assembly matched with the feeding tool 335 are fixedly arranged on the side end face away from the ground of the follow-up bracket 333, the pushing assembly comprises a pushing cylinder 334 fixedly arranged on the side end face away from the ground of the follow-up bracket 333, the extension direction of the pushing cylinder 334 is the same as the sliding direction of the sliding table 332, and a blanking plate 339 is fixedly arranged on the extension end of the pushing cylinder 334, the feeding tool 335 is located on the extension path of the blanking plate 339 away from the ground and close to one side end of the blanking plate 339, a plurality of clamp springs 480 are prearranged on the feeding tool 335, and the clamp springs 480 stacked on the feeding tool 335 can fall onto the blanking plate 339 and be positioned in the blanking groove on the blanking plate 339 in the process of extension of the blanking plate 339.

[0153] A fixed rod 336 is also fixedly arranged on the side end face away from the ground of the follow-up bracket 333, a supporting cylinder 337 is fixedly connected to the fixed rod 336, the extension direction of the supporting cylinder 337 is the same as the extension direction of the lifting cylinder 322, and a supporting claw 338 is fixedly arranged on the extension end of the supporting cylinder 337, the supporting claw 338 has a three-claw structure and can support and grab the clamp springs 480 placed on the blanking plate 339 from the inside.

[0154] A transition sliding table 340 is also connected to the side end face away from the ground of the sliding table 332 through an electric sliding rail, the sliding direction of the transition sliding table 340 is the same as the sliding direction of the sliding table 332, a limiting claw assembly 341 is fixedly arranged on the side end face away from the ground of the transition sliding table 340, and the sleeve head 328 can be clamped and fixedly arranged on the transition sliding table 340 through the limiting claw assembly 341.

[0155] Working principle of the clamp spring press-fitting work station OP30:

[0156] Initially, the real shaft 420 is not installed on the clamping positioning mechanism 350, the blanking groove on the blanking plate 339 is located at the corresponding position of the feeding tool 335, the supporting claw 338 and the limiting claw assembly 341 are located on the same axis, the sleeve head 328 is installed on the limiting claw assembly 341 and matched with the quick-change structure with one end upward, and the lifting cylinder 322, the press-fitting cylinder 329 and the detection cylinder 323 on the press-fitting detection mechanism 320 are all in the retracted state.

[0157] When pre-pressing, the blanking plate 339 is extended, the circlip 480 on the feeding tool 335 falls into the blanking groove on the blanking plate 339 and is located at the corresponding position of the blanking claw 338, the blanking claw 338 is driven by the blanking cylinder 337 to open and grab the circlip 480 on the blanking plate 339, the blanking plate 339 is retracted, and the circlip 480 is sleeved on the sleeve head 328 on the limiting claw assembly 341 after the blanking claw 338 is reset;

[0158] When pressing, the transition sliding table 340 is extended to the corresponding position of the lifting guide rod 325, the pressing detection mechanism 320 moves to the side close to the ground under the action of the lifting device, and the lifting guide rod 325 changes the relative position with the pressing sleeve 326 through extension and retraction during the movement of the pressing detection mechanism 320, so that the circlip 480 on the limiting claw assembly 341 is inserted on the lifting guide rod 325 and then clamped in the insertion hole on the lifting guide rod 325 through the quick-change device. When the sleeve head 328 is installed, the real shaft 420 is reset under the action of the lifting device, the transition sliding table 340 is reset, and the real shaft 420 on which the circlip 480 is installed is fixed to the side close to the ground of the pressing detection mechanism 320 through the clamping positioning mechanism 350. At this time, the pressing detection mechanism 320 moves to the side close to the ground under the action of the lifting device until the sleeve head 328 is in contact with the real shaft 420. The pressing cylinder 329 is started to drive the pressing sleeve 326 to move to the side close to the ground. Under the action of the pressing sleeve 326, the circlip 480 sleeved on the sleeve head 328 is pushed to the corresponding position on the real shaft 420. The detection cylinder 323 is started to drive the detection sleeve 327 to move to the side close to the ground. That is, the detection sleeve 327 detects the installation of the circlip 480 on the real shaft 420, and the travel distance of the detection sleeve 327 is sensed through the displacement gauge. When the obtained travel distance deviates from the expected value, a signal will be sent to the control end, so as to perform manual review of pressing. If the detection is qualified, the pressing detection mechanism 320 is reset as a whole and the next pressing cycle is performed.

[0159] In a preferred embodiment, in the first fixed end clamp closing station OP70 and the second fixed end clamp closing station OP80, the fixed end large clamp 451 of different structures is respectively necked. When the fixed end large clamp 451 has no ear structure, it is locked by the first fixed end clamp closing station OP70, and when it has an ear structure, it is locked by the second fixed end clamp closing station OP80. A key process is provided on the second fixed end clamp closing station OP80. This process is to rotate the fixed end large clamp 451 and position the ear structure of the fixed end large clamp 451 through the camera, so as to facilitate the positioning of the ear structure of the fixed end large clamp 451 during subsequent clamping.

[0160] It can be understood that the real shaft 420 in the first fixed end clamp closing station OP70 and the second fixed end clamp closing station OP80 is transferred through the second robot OP320, that is, the second robot OP320 clamps and flips the real shaft 420, and similarly, the NG pieces generated in the previous process are all rejected by the second robot OP320, that is, the NG pieces generated in the previous process are transferred to the operation position of the second robot OP320 according to the process, and the second robot OP320 performs the rejection.

[0161] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the element. In addition, it should be pointed out that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted, or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0162] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are only illustrative and not limiting, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. An automated assembly line for a CV shaft assembly, characterized in that, include: A mobile end small clamp tightening station is used for the installation of the mobile end sheath on the solid shaft and the automatic tightening of the mobile end small clamp on the solid shaft; Three-pin joint installation station, used for pressing three-pin joints onto the real shaft; A snap ring pressing station is used for pressing snap rings onto the solid shaft; A fixed-end sleeve mounting station is used for the automatic pressing of the fixed-end sleeve onto the solid shaft. A wire assembly station is used for the automatic installation of wires onto the actual shaft. A fixed section press-fitting station is used for the automatic press-fitting of a fixed section onto the solid shaft; Fixed-end clamp assembly station, used for reducing the opening of large fixed-end clamps; The shaft fork press-fitting and moving end large clamp closing station is used for grease injection of the shaft fork and riveting on the actual shaft, and for closing the moving end large clamp. Robotic units are used for reversing CV-axis components and transferring between workstations on multiple workstations; The detection unit is used to inspect the CV shaft assembly. The CV shaft is sequentially press-fitted onto the solid shaft with the moving end sheath, the moving end small clamp, the three-pin joint, the snap ring, the fixed end sheath, the snap wire, the fixed joint, the fixed end large clamp, the shaft fork, and the moving end large clamp. It also includes an automatic feeding station for the solid shaft, moving end sheath, moving end small clamp, three-pin joint, snap ring, fixed end sheath, fixed end small clamp, fixed joint, fixed end large clamp, and shaft fork; The automatic feeding station for the mobile terminal sheath includes a mobile terminal sheath storage device and a mobile terminal sheath retrieval device. The mobile end sheath storage device includes a pad block fixedly mounted on a mounting frame. An indexing motor and a transmission table are fixedly mounted on the pad block. A sheath turntable is rotatably mounted on the power output end of the transmission table, and the power input end is connected to the power output shaft of the indexing motor. The sheath turntable is arranged in a circular array about its own axis of rotation on the end face away from the pad block, and multiple guide rods for stacking the mobile end sheath are fixedly provided. The mobile end sheath storage device also includes a first sensing unit for detecting the quantity and position of the mobile end sheaths on the guide rod. The mobile end sheath material handling device includes a fixed base plate, on which a vertical station body is fixedly mounted. Two shifting motors are horizontally arrayed and fixedly mounted on the vertical station body. The power end of the shifting motor is connected to a screw that is rotatably connected to the fixed base plate. One of the screws is threadedly connected to a first slide, and the other screw is threadedly connected to a second slide located on the side of the first slide away from the fixed base plate. The main body of the station is also horizontally arrayed and fixedly provided with two longitudinal guide rails parallel to the screw. The first slide and the second slide are slidably connected to the two longitudinal guide rails respectively. A shifting gripper assembly is fixedly installed on the end face of the first slide away from the main body of the station. A transverse guide rail with its length direction perpendicular to the screw axis is fixedly installed on the end face of the second slide away from the main body of the station. An electric slider is slidably provided on the transverse guide rail. A positioning gripper assembly is fixedly installed on the end face of the electric slider away from the main body of the station. The mobile terminal sheath feeding device also includes a second sensing unit for positioning the mobile terminal sheath.

2. The automated assembly line for the CV shaft assembly according to claim 1, characterized in that, The snap ring pressing station includes a welding frame, which is equipped with a clamping and positioning mechanism for fixing the solid shaft, a snap ring pre-installation mechanism for pre-installing the snap ring on the sleeve, and a pressing and testing mechanism for pressing the snap ring on the sleeve onto the solid shaft. The press-fit testing mechanism includes a main support mounted on a welding frame via a lifting device, a press-fit cylinder fixedly mounted on the main support, a press-fit bracket fixedly mounted on the telescopic end of the press-fit cylinder, and a pressure sleeve fixedly mounted on the end face of the press-fit bracket away from the main support. The main support is also fixedly provided with a lifting cylinder, and a lifting guide rod is fixedly connected to the telescopic end of the lifting cylinder. The pressure sleeve has a through hole in the axial direction. The end of the lifting guide rod away from the lifting cylinder passes through the pressure support and the through hole of the pressure sleeve and can be installed with a sleeve head through a quick-change structure. A detection cylinder is fixedly provided on the end face of the pressing bracket away from the lifting cylinder, and a detection sleeve is fixedly provided on the telescopic end of the detection cylinder, which is sleeved on the pressing sleeve and slidably connected to the pressing sleeve. The sleeve is a rotating body and the radius of the end where it is mounted with the snap ring is larger than the inner diameter of the snap ring. The through hole in the pressure sleeve is clearance-fitted with the snap ring mounting end of the sleeve. The pressure mounting bracket is also equipped with a displacement gauge for monitoring the travel of the testing sleeve.

3. The CV shaft assembly automated assembly line according to claim 2, characterized in that, The snap ring pre-assembly mechanism includes a connecting frame fixedly mounted on the welding frame and located between the press-fitting detection mechanism and the clamping and positioning mechanism. A sliding table is connected to the connecting frame via a first electric slide rail, and the sliding table can slide horizontally linearly under the action of the first electric slide rail. A follower bracket is fixedly provided on the sliding platform, and a feeding fixture and a pushing component that cooperates with the feeding fixture are fixedly provided on the follower bracket; The pushing assembly includes a pushing cylinder fixedly mounted on a follower bracket. The extension and retraction direction of the pushing cylinder is the same as the sliding direction of the sliding table, and a dropping plate is fixedly mounted on the extension and retraction end. The loading fixture is located on the extension and retraction path of the dropping plate and is used to stack the retaining rings. During the extension and retraction of the dropping plate, the stacked retaining rings on the loading fixture can fall onto the dropping plate and be positioned in the dropping groove on the dropping plate. The follower bracket is also fixedly provided with a fixing rod, and a material support cylinder is fixedly provided on the fixing rod. A material support claw is fixedly provided on the telescopic end of the material support cylinder. The material support claw can open and grab the snap ring placed on the material drop plate from the inside. The sliding platform is also connected to a transition slide via a second electric slide rail. The transition slide ... The sleeve can be clamped and fixed on the transition slide by the limiting claw assembly, and the material support claw can pre-install the retaining spring on the sleeve on the transition slide.

4. The automated assembly line for the CV shaft assembly according to claim 1, characterized in that, The fixed-end clamp assembly station includes: The first fixed-end clamp closing station is used for closing the large fixed-end clamp of the earless type. The first fixed-end clamping station is also used for grease injection into the fixed-end sheath.

5. The automated assembly line for the CV shaft assembly according to claim 1 or 4, characterized in that, The fixed-end clamp assembly station includes: The second fixed-end clamp closing station is used for closing the large fixed-end clamp with ear type. The second fixed-end clamp closing station is equipped with a vision unit for detecting the ear-shaped position on the large fixed-end clamp.

6. The automated assembly line for the CV shaft assembly according to claim 1, characterized in that, The detection unit includes: A visual final inspection station is used for visual defect detection of the CV shaft assembly finished parts; The unloading and weighing platform is used for weight detection of the finished CV shaft assembly.

7. The automated assembly line for the CV shaft assembly according to claim 1, characterized in that, The robot unit includes at least one robot and at least one gripping swing arm located between two adjacent workstations; The clamping arm is used to connect the workstation transfer between two corresponding workstations, and can clamp the workpiece and drive the workpiece to rotate and rise.

8. The automated assembly line for the CV shaft assembly according to claim 7, characterized in that, One of the robots is located at the corresponding position of the fixed-end clamp assembly station and is used to remove NG parts in the previous process.

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