A three-pin joint installation station for cv axle assembly

Abstract

The application discloses a three-pin joint mounting station for CV shaft assembly, which comprises a spline matching mechanism and a three-pin joint pressing mechanism, the spline matching mechanism is used for spline matching and pre-pressing of a solid shaft and the three-pin joint, and the three-pin joint pressing mechanism is used for pressing the solid shaft and the three-pin joint, in the embodiment of the application, the three-pin joint mounting station for CV shaft assembly is used, through the pre-pressing and spline matching process of the three-pin joint and the solid shaft, the matching precision between the three-pin joint and the solid shaft is higher, so that the overall production quality of the CV shaft is improved, when the clamping limiting block clamps the three-pin joint, the first telescopic cylinder can drive the three-pin joint to move to the side close to the solid shaft, so that the pre-pressing of the three-pin joint and the solid shaft is realized, the clamping limiting block has a certain floating space in the three-fingered clamping jaw, so that the three-pin joint and the solid shaft have better position tolerance in the spline matching process, and the installation success rate of the three-pin joint and the solid shaft is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive parts manufacturing technology, and in particular to a three-pin joint mounting station for CV shaft assembly. Background Technology

[0002] The CV shaft, also known as a half shaft or drive axle, is a solid shaft that transmits torque between the differential and the drive wheels. Its inner end is usually connected to the half shaft gear via a spline, and its outer end is connected to the wheel hub. Modern automobiles commonly use two types of CV shafts, which are either fully floating or semi floating, depending on their support method. The fully floating CV shaft only transmits torque and does not bear any reaction force or bending moment, so it is widely used in various types of automobiles.

[0003] Based on the market demand for automobile production, the production speed of CV shafts, as an important component of automobiles, has a significant impact on the overall production efficiency of automobiles. Currently, CV shafts are usually assembled manually, which results in low production efficiency, difficulty in ensuring production quality, and inability to trace production data in real time. At the same time, due to the limitations of the CV shaft's installation process, fully automated machine assembly requires coordination and control of each assembly process, making cycle time balance quite difficult.

[0004] For the assembly process of the three-pin joint and solid shaft of the CV shaft, on the one hand, manual assembly is difficult to guarantee the fit accuracy and strength between the two, and on the other hand, when using machine assembly, splines need to be matched between the two, so general assembly structures are difficult to apply. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a highly automated and efficient three-pin assembly station for CV shaft assembly.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0007] This application provides a three-pin joint mounting station for CV shaft assembly, including a spline matching mechanism and a three-pin joint pressing mechanism. The spline matching mechanism is used for spline matching and pre-pressing between the solid shaft and the three-pin joint, and the three-pin joint pressing mechanism is used for pressing between the solid shaft and the three-pin joint.

[0008] The spline alignment mechanism includes a preload gripper unit for clamping the three pins and applying preload to the three pins, and an alignment gripper unit for clamping the solid shaft and driving the solid shaft to rotate to achieve spline alignment.

[0009] Further specifying, in the aforementioned three-pin mounting station for CV shaft assembly, the preload gripper unit includes:

[0010] The first mounting plate is fixedly mounted on a mounting frame;

[0011] A cylinder mounting bracket is fixedly mounted on the first mounting plate;

[0012] The first telescopic cylinder is fixedly mounted on the cylinder mounting bracket;

[0013] A three-finger gripper is fixedly mounted on the telescopic end of the first telescopic cylinder;

[0014] A clamping and limiting block is disposed within the three-finger gripper and is used to clamp and limit the three pin joints;

[0015] The clamping and limiting block has a floating gap within the three-finger gripper.

[0016] Further specifying, the aforementioned three-pin mounting station for CV shaft assembly, wherein the preload gripper unit also includes a displacement sensor fixedly mounted on the cylinder mounting bracket and used to detect the extension and retraction stroke of the first telescopic cylinder.

[0017] Further specifying, in the aforementioned three-pin mounting station for CV shaft assembly, the alignment gripper unit includes:

[0018] The first fixed bracket is fixedly mounted on the mounting frame;

[0019] The central shaft is rotatably mounted on the first fixed bracket and is coaxial or parallel to the telescopic end of the first telescopic cylinder;

[0020] A gripper drive assembly is fixedly mounted on the central shaft and is used to clamp the solid shaft.

[0021] The alignment and rotation assembly is used to drive the gripper drive assembly and the real shaft to rotate.

[0022] Further specifying, in the aforementioned three-pin mounting station for CV axis assembly, the gripper drive assembly includes:

[0023] The connecting plate is fixedly mounted on the central shaft;

[0024] The second telescopic cylinder is fixedly mounted on the connecting plate;

[0025] A transmission rack is fixedly mounted on the telescopic end of the second telescopic cylinder;

[0026] The track disk is rotatably mounted on the central axis;

[0027] A transmission gear is fixedly mounted on the track disk and meshes with the transmission rack.

[0028] Three guide arc grooves are arranged in a circular array about the central axis on the track disk;

[0029] A limiting plate is fixedly mounted on the central shaft;

[0030] Three gripper blocks are arranged in a circular array about the central axis and embedded in the limiting plate;

[0031] A sliding pin is fixedly mounted on the gripper block and can slide within the guide arc groove;

[0032] A centering pin is fixedly disposed on one side of the central axis relative to the gripper block.

[0033] When the track disk rotates relative to the limiting disk, the gripper block can move radially along the limiting disk.

[0034] Further specifying, in the aforementioned three-pin joint mounting station for CV shaft assembly, the alignment rotation assembly includes:

[0035] The third telescopic cylinder is hinged to the first fixed bracket;

[0036] The pull rod is fixedly mounted on the telescopic end of the third telescopic cylinder;

[0037] The shaft-holding block is hinged to the end of the pull rod on the side away from the third telescopic cylinder;

[0038] The extension / retraction direction of the third telescopic cylinder does not pass through the axis of the central shaft.

[0039] Further specifying, the above-mentioned three-pin mounting station for CV shaft assembly includes a three-pin pressing mechanism comprising a floating clamping unit for applying clamping force to the three pins, and a support gripper unit for clamping the solid shaft.

[0040] Further specifying, in the aforementioned three-pin mounting station for CV shaft assembly, the floating clamping unit includes:

[0041] The second mounting plate is fixedly mounted on a mounting frame;

[0042] A servo press is fixedly mounted on the second mounting plate;

[0043] A floating joint is fixedly installed on the telescopic end of the servo press;

[0044] The floating ball is fixedly installed inside the floating joint;

[0045] The articulated head is fitted onto the floating ball and is capable of rolling relative to the floating ball;

[0046] The transition shaft is fixedly installed on the end of the joint head away from the servo press;

[0047] A step seat is connected to the end of the transition shaft away from the joint head;

[0048] The three-pin joint pressure head is fixedly installed on the side of the stepped seat away from the joint head;

[0049] The solid shaft ejector pin is elastically telescopically mounted on the end face of the stepped seat away from the joint head.

[0050] Further specifying, in the aforementioned three-pin mounting station for CV shaft assembly, the floating clamping unit further includes:

[0051] The second fixed bracket is fixedly mounted on the mounting frame;

[0052] The tension / compression sensor is fixedly mounted on the second fixed bracket, and its two sensing ends are respectively connected to the transition shaft and the step seat.

[0053] This invention has at least the following beneficial effects:

[0054] 1. By pre-pressing the three-pin joint and the solid shaft and performing the spline matching process, the fit accuracy between the three-pin joint and the solid shaft is improved, thereby enhancing the overall production quality of the CV shaft.

[0055] 2. When the clamping limit block clamps the three-pin joint, the first telescopic cylinder can drive the three-pin joint to move closer to the solid shaft, thereby achieving pre-compression between the three-pin joint and the solid shaft. The clamping limit block has a certain floating space within the three-finger gripper, which makes the three-pin joint and the solid shaft have better position tolerance during spline assembly, and improves the installation success rate of the three-pin joint and the solid shaft.

[0056] 3. The relative rotation between the track disk and the limit disk is achieved through the cooperation of the transmission rack and transmission gear. Under the action of the trajectory arc of the guide arc groove, the three gripper blocks retract towards the side closer to the central axis, thereby achieving stable clamping of the solid shaft.

[0057] 4. During the clamping process between the three-pin joint and the solid shaft, the tension and compression sensors can record the deviation of the sensing ends on both sides, thereby recording the assembly parameters of the three-pin joint and the solid shaft, which is convenient for subsequent error analysis and problem tracing. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the specific structure of the automated assembly line for the CV shaft assembly according to an embodiment of this application;

[0059] Figure 2 This is a simplified structural diagram of the automated assembly line for the CV shaft assembly according to an embodiment of this application;

[0060] Figure 3 This is a schematic diagram of the CV axis structure according to an embodiment of this application;

[0061] Figure 4 This is an enlarged structural diagram of the "Cass 490" portion in the CV axis of an embodiment of this application;

[0062] Figure 5 This is an enlarged structural diagram of the "circlip 480" portion in the CV shaft of an embodiment of this application;

[0063] Figure 6 This is a structural schematic diagram of the "mobile end sheath material storage device" in the "mobile end sheath and small clamp feeding station OP10-1" of this application embodiment;

[0064] Figure 7 This is a structural schematic diagram of the "mobile end sheath material storage device" in the "mobile end sheath and small clamp feeding station OP10-1" of this application embodiment;

[0065] Figure 8 This is a structural schematic diagram of the "mobile end sleeve material handling device" in the "mobile end sleeve and small clamp feeding station OP10-1" of this application embodiment;

[0066] Figure 9 This is a structural schematic diagram of the "mobile end sleeve material handling device" in the "mobile end sleeve and small clamp feeding station OP10-1" of this application embodiment;

[0067] Figure 10 This is a structural schematic diagram of the "spline mechanism" in the "three-pin joint installation station OP20" of this application embodiment;

[0068] Figure 11 This is a schematic diagram of the structure of the "pre-compression gripper unit" in the "spline mechanism" of this application embodiment;

[0069] Figure 12 This is a schematic diagram of the "alignment gripper unit" in the "spline alignment mechanism" of this application embodiment;

[0070] Figure 13 This is a schematic diagram showing the structural fit of the "clamp block 213" and "guide arc groove 220" in the "alignment clamp" of this application embodiment;

[0071] Figure 14 This is a schematic diagram of the "rotation alignment mechanism" in the "alignment gripper" of this application embodiment;

[0072] Figure 15 This is a structural schematic diagram of the "three-pin joint pressing mechanism" in the "three-pin joint installation station OP20" of this application embodiment;

[0073] Figure 16 This is a structural schematic diagram of the "floating joint 228" part in the "three-pin joint press-fitting mechanism" of this application embodiment;

[0074] Figure 17 This is a structural schematic diagram of the "floating joint 228" part in the "three-pin joint press-fitting mechanism" of this application embodiment;

[0075] Figure 18 This is a structural schematic diagram of the "solid shaft ejector pin 239" part in the "three-pin joint press-fitting mechanism" of this application embodiment;

[0076] Figure 19 This is a structural schematic diagram of the "circlip pressing station OP30" in an embodiment of this application;

[0077] Figure 20 This is a structural diagram of the "press-fitting detection mechanism 320" in the "circlip press-fitting station OP30" of this application embodiment;

[0078] Figure 21 This is a structural cross-sectional view of the "press-fitting inspection mechanism 320" in the "circlip press-fitting station OP30" of this application embodiment;

[0079] Figure 22 This is a structural schematic diagram of the "circlip pre-assembly mechanism 330" in the "circlip press-fitting station OP30" of this application embodiment;

[0080] Figure 23 This is a partially enlarged schematic diagram of the "circlip pre-assembly mechanism 330" in the "circlip press-fitting station OP30" of this application embodiment.

[0081] Figure Labels

[0082] OP10, Mobile end small clamp tightening station; OP10-1, Mobile end sheath and small clamp loading station; OP10-2, Three-pin joint loading station; 111, Sheath turntable; 112, Guide rod; 113, Indexing motor; 114, Pad; 115, Induction block; 116, Transmission table; 121, Fixed base plate; 122, Vertical station body; 123, Positioning motor; 124, Screw; 125, Electric slider; 126, Positioning gripper assembly; 127, Positioning gripper assembly; 128, First slide table; 129, Second slide table; 130, Transverse guide rail; 131, Longitudinal guide rail; OP20, Three-pin joint installation station; 201, First mounting plate; 202, First telescopic cylinder; 203, Cylinder mounting bracket; 204, Pressure reducing... 205. Valve; 206. Connecting flange; 207. Three-finger gripper; 208. Clamping limit block; 209. First fixed bracket; 200. Second telescopic cylinder; 210. Connecting plate; 211. Guide block; 212. Limiting disc; 213. Gripper block; 214. Displacement sensor; 215. Centering pin; 216. Track disk; 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. Hinge seat; 225. Tie rod; 226. Servo press; 227. Second mounting plate; 228. Floating joint; 229. Transition shaft; 230. Second fixed bracket; 231. Tension / compression sensor; 232. Connector 233. Joint head; 234. Connecting pin; 235. Floating ball; 236. Stepped seat; 237. Ball head locking pin; 238. Three-pin joint press head; 239. Solid shaft ejector pin; OP30. Snap ring press-fitting station; OP30-1. Snap ring feeding station; 310. Welded frame; 320. Press-fitting inspection mechanism; 321. Main support; 322. Lifting cylinder; 323. Inspection cylinder; 324. Press-fitting bracket; 325. Lifting guide rod; 326. Press sleeve; 327. Inspection sleeve; 328. Sleeve head; 329. Press-fitting cylinder; 330. Snap ring pre-installation mechanism; 331. Connecting frame; 332. Sliding table; 333. Follower bracket; 334. Pushing cylinder; 335. Feeding fixture; 336. Fixing rod; 3 37. Material support cylinder; 338. Material support claw; 339. Material dropping plate; 340. Transition slide; 341. Limiting claw assembly; 350. Clamping and positioning mechanism; OP40. Fixed end sleeve installation station; OP40-1. Fixed end sleeve and small clamp loading station; OP50. Wire clamp assembly station; OP60. Fixed section pressing station; OP60-1. Fixed section loading station; OP70. First fixed end clamp closing station; OP70-1. First fixed end clamp loading station; OP80. Second fixed end clamp closing station; OP80-1. Second fixed end clamp loading station; OP90. Shaft fork pressing and moving end large clamp closing station; OP90-1. Shaft fork loading station; OP100. Solid shaft loading unit;OP100-1, Manual loading platform; OP110, Visual final inspection station; OP200, Rotary clamping swing arm; OP310, Robot No. 1; OP320, Robot No. 2; OP330, Robot No. 3; 410, Three-pin joint; 420, Solid shaft; 431, Fixed end small clamp; 432, Moving end small clamp; 441, Fixed end protective sleeve; 442, Moving end protective sleeve; 451, Fixed end large clamp; 452, Moving end large clamp; 460, Fixed joint; 470, Shaft fork; 480, Snap ring; 490, Wire retainer; OP500, Electrical control box platform; OP600, Unloading and weighing platform. Detailed Implementation

[0083] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0084] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0085] The three-pin mounting station for CV shaft assembly provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0086] This application provides an automated assembly line for a CV shaft assembly, such as... Figures 3 to 5As shown, the automobile CV shaft includes a solid shaft 420 and fixed sections 460 and axle forks 470 respectively installed at both ends of the solid shaft 420. The solid shaft 420 is also fitted with a fixed end sleeve 441 and a movable end sleeve 442. The fixed end sleeve 441 is clamped to the solid shaft 420 by a fixed end small clamp 431 and to the fixed section 460 by a fixed end large clamp 451. The movable end sleeve 442 is clamped to the solid shaft 420 by a movable end small clamp 432 and to the axle fork 470 by a movable end large clamp 452. A three-pin joint 410 is installed on the solid shaft 420 about the axle fork 470. A retaining spring 480 is fitted on the solid shaft 420 to limit the three-pin joint 410. A retaining wire 490 is fitted on the solid shaft 420 about the fixed section 460 to limit the fixed section 460.

[0087] In summary, because the components of an automotive CV shaft are interconnected, the installation of each component must follow a specific process sequence.

[0088] like Figure 1 , Figure 2 As shown, the automated assembly line for a CV shaft assembly provided in this application includes the following steps in sequence:

[0089] The manual loading platform OP100-1 is used for manual hanging of materials on the solid shaft 420 on the solid shaft loading unit OP100;

[0090] The solid shaft feeding unit OP100 is used for storing and periodically automatically feeding solid shaft 420.

[0091] The OP10-1 mobile end sheath and small clamp feeding station is used for storing and periodically feeding the mobile end sheath 442 and the mobile end small clamp 432.

[0092] The three-pin joint feeding station OP10-2 is used for storing materials in the three-pin joint 410 inside the shaft fork 470 and for periodic automatic feeding.

[0093] The mobile end small clamp tightening station OP10 is used for the installation of the mobile end sheath 442 on the solid shaft 420 and the automatic tightening of the mobile end small clamp 432 on the solid shaft 420.

[0094] The three-pin joint installation station OP20 is used for press-fitting the three-pin joint 410 onto the solid shaft 420.

[0095] The OP30-1 snap ring feeding station is used for storing snap rings 480 and for periodic automatic feeding.

[0096] The OP30 snap ring press-fitting station is used for pressing snap ring 480 onto solid shaft 420;

[0097] The OP40-1 station for feeding fixed end sleeves and small clamps is used for storing materials and periodically feeding fixed end sleeves 441 and fixed end small clamps 431.

[0098] The fixed end sleeve mounting station OP40 is used for the automatic press-fitting of the fixed end sleeve 441 onto the solid shaft 420.

[0099] The OP50 assembly station for the automatic installation of the CAS 490 on the solid shaft 420;

[0100] The fixed section feeding station OP60-1 is used for storing materials in the fixed section 460 and for periodic automatic feeding.

[0101] The fixed section press-fitting station OP60 is used for automatic press-fitting of the fixed section 460 onto the solid shaft 420.

[0102] The first fixed end clamp feeding station OP70-1 is for automatic feeding of the fixed end large clamp 451 on the conventional fixed end sheath 441.

[0103] The first fixed end clamp closing station OP70 is used for grease injection on the fixed end large clamp 451 of the conventional fixed end sheath 441 / T-type fixed end sheath 441 / fixed end sheath 441.

[0104] The second fixed end clamp feeding station OP80-1 is for automatic feeding of the fixed end large clamp 451 on the T-type fixed end sheath 441.

[0105] The second fixed end clamp closing station OP80 is used for automatic clamping of the small fixed end clamp 431 and the large fixed end clamp 451 on the T-type fixed end sheath 441.

[0106] The OP90-1 shaft fork loading station is used for storing materials and periodically loading materials for the 470 shaft fork.

[0107] The OP90 station for pressing and closing the large clamp at the moving end of the shaft fork is used for grease injection of the shaft fork 470 and for riveting / closing the large clamp at the moving end 452 on the solid shaft 420.

[0108] The OP110 visual inspection station is used for visual inspection of finished automotive CV shaft assembly parts.

[0109] The OP600 unloading and weighing platform is used for weight detection of finished automotive CV shaft assembly parts.

[0110] This includes an electrical control box platform OP500 connecting each workstation, and robot units for transferring CV shaft components between workstations. The robot units include robot OP310, robot OP320, robot OP330, and a gripping swing arm OP200. Robot OP310 is located at the corresponding positions of the mobile end small clamp tightening station OP10 and the three-pin joint installation station OP20. Robot OP320 is located at the corresponding position of the second fixed end clamp closing workstation OP80. Robot OP330... 0 is located at the corresponding positions of the shaft fork press-fitting and moving end large clamp closing station OP90 and the visual final inspection station OP110. Multiple clamping swing arms OP200 are provided, respectively located between the three-pin joint installation station OP20 and the snap ring press-fitting station OP30, between the fixed joint press-fitting 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 press-fitting and moving end large clamp closing station OP90.

[0111] Understandably, the clamping arm OP200 is used to connect the workstation transfer between two corresponding workstations. It can rotate, lift and lower, and has a telescopic clamping function (clamping the workpiece on the first workstation in the retracted state, and then rotating, extending and placing the workpiece on the second workstation).

[0112] Understandably, the OP600 weighing platform is used to weigh finished automotive CV shaft components. On the one hand, it can determine whether there are any missing parts during the assembly process, and on the other hand, it can check whether the grease injection is qualified, thereby further optimizing the quality of finished automotive CV shafts.

[0113] In this embodiment, the above-mentioned CV shaft assembly automatic assembly line and the above-mentioned automotive CV shaft assembly sequence are adopted, which not only avoids installation interference between components, but also makes the working cycle of each process closer, thereby realizing the continuity and smoothness of the automotive CV shaft assembly process, greatly improving assembly efficiency. By recording the control data of each station during the automatic assembly process, the data of each process of the automotive CV shaft can be traced, so that when problems occur, problems can be quickly located, and adjustment plans can be made in a timely manner, reducing the probability of defective products.

[0114] In a preferred embodiment, such as Figure 6 , Figure 7As shown, the mobile end sheath and small clamp feeding station OP10-1 includes a mobile end sheath storage device and a mobile end sheath picking device. The mobile end sheath storage device includes a pad 114 fixedly mounted on a mounting frame. An indexing motor 113 and a transmission table 116 are fixedly mounted on the pad 114. The power output end of the transmission table 116 is rotatably equipped with a sheath turntable 111, and the power input end is connected to the power output shaft of the indexing motor 113.

[0115] The protective cover turntable 111 has a ring array of multiple guide rods 112 arranged around its own rotation axis on the end face away from the pad block 114. The movable end cover 442 can be fitted onto the guide rods 112.

[0116] A sensing block 115 is also fixedly provided on the sheath turntable 111. The sensing block 115 is used to sense the rotation angle of the sheath turntable 111, that is, to control the rotation angle of the sheath turntable 111 in one rotation cycle to be exactly equal to the annular array angle of the guide rod 112.

[0117] When the mobile end sleeve 442 is stacked on the guide rod 112, the mobile end sleeve picking device will grab the mobile end sleeve 442 on the guide rod 112 at the predetermined position from top to bottom. After the mobile end sleeve 442 on the guide rod 112 is grabbed, the indexing motor 113 rotates and drives the sleeve turntable 111 to rotate for one working cycle through the transmission table 116, that is, the guide rod 112 at the predetermined position is replaced so that the mobile end sleeve picking device can continue to grab the mobile end sleeve 442.

[0118] It is understandable that the mobile end sheath storage device also includes a first sensing unit for detecting the quantity and position of the mobile end sheath 442 on the guide rod 112. When the first sensing unit detects that the mobile end sheath 442 on the guide rod 112 at the predetermined position has been grasped, it can control the indexing motor 113 to rotate for one working cycle, thereby realizing the replacement of the guide rod 112 at the predetermined position.

[0119] Meanwhile, when the first sensing unit detects that the movable end sheath 442 on the guide rod 112 is insufficient or its position is abnormal, it can send a reminder signal to the control terminal, thereby facilitating the replenishment of materials by the staff and the monitoring of the working status.

[0120] In a preferred embodiment, such as Figure 8 , Figure 9As shown, the mobile end sheath material handling device includes a fixed base plate 121 fixedly installed on the ground. A standing body 122 is fixedly installed on the end face of the fixed base plate 121 away from the ground. Two shifting motors 123 are horizontally arrayed and fixedly installed on the standing body 122. The power end of the shifting motor 123 is connected to a screw 124 that is rotatably connected to the fixed base plate 121. A first slide 128 is threadedly connected to one of the screws 124, and a second slide 129 located on the side of the first slide 128 away from the fixed base plate 121 is threadedly connected to the other screw 124.

[0121] The main body 122 of the station is also horizontally arrayed and fixedly provided with two longitudinal guide rails 131 parallel to the screw 124. The first slide 128 and the second slide 129 are slidably connected to the two longitudinal guide rails 131 respectively. A shifting gripper assembly 127 is fixedly installed on the end face of the first slide 128 away from the main body 122. A transverse guide rail 130 with its length direction perpendicular to the axis of the screw 124 is fixedly installed on the end face of the second slide 129 away from the main body 122. An electric slider 125 is slidably provided on the transverse guide rail 130. A positioning gripper assembly 126 is fixedly installed on the end face of the electric slider 125 away from the main body 122.

[0122] When the mobile end sleeve picking device grabs the mobile end sleeve 442 on the mobile end sleeve storage device, the shifting gripper assembly 127 clamps the bottommost mobile end sleeve 442 on the guide rod 112. At this time, the corresponding shifting motor 123 drives the screw 124 to rotate, thereby driving the first slide 128 to move a unit distance away from the ground, thus moving the topmost mobile end sleeve 442 on the guide rod 112 to the predetermined clamping position. After the positioning gripper assembly 126 clamps the mobile end sleeve 442 at the predetermined clamping position, the corresponding shifting motor 123 drives the screw 124 to rotate, thereby driving the second slide 129 to move away from the ground to the transition station. Then, the electric slider 125 moves, driving the mobile end sleeve 442 on the positioning gripper assembly 126 to move to the next station, that is, to move the mobile end sleeve 442 to the corresponding station of the mobile end small clamp tightening station OP10 to realize the installation of the mobile end sleeve 442 on the real shaft 420.

[0123] During the resetting process of the positioning gripper assembly 126, the shifting gripper assembly 127 moves another unit distance away from the ground, so that the topmost movable end sheath 442 on the guide rod 112 is always in the predetermined gripping position. Of course, the unit distance of movement of the shifting gripper assembly 127 depends on the stacking spacing of the movable end sheath 442 itself.

[0124] It is understandable that the mobile end sleeve picking device also includes a second sensing unit for positioning the mobile end sleeve 442. The shifting gripper assembly 127 determines the position and state of the mobile end sleeve 442 at the bottom of the guide rod 112 through the second sensing unit. At the same time, in order to avoid the error of the stacking spacing of the mobile end sleeves 442 on the guide rod 112, the second sensing unit can also be set to perform position and posture sensing on the mobile end sleeve 442 at the predetermined gripping position, thereby ensuring the gripping accuracy of the positioning gripper assembly 126 on the mobile end sleeve 442.

[0125] In this embodiment, the above-mentioned automatic assembly line for CV shaft assembly is adopted. The automatic and continuous feeding of the mobile end sleeve 442 is achieved by the cooperation of the mobile end sleeve storage device and the mobile end sleeve picking device. This saves manpower and greatly shortens the working cycle, thereby effectively improving the assembly efficiency of the CV shaft.

[0126] In a preferred embodiment, in the three-pin section feeding station OP10-2, a forward inspection is performed on the three-pin section 410 during feeding (one side of the three-pin section 410 has a chamfer, and the other side does not. To avoid errors in manual feeding, both sides need to be inspected). The specific inspection method is to use a conical pressure head to press down and monitor the depth of the pressure into the three-pin section 410 through a displacement ruler. Since the pressure head is conical, if the pressing surface is chamfered (the front side of the three-pin section 410), the pressure is deeper, and vice versa. If the back side of the three-pin section 410 is detected to be facing up, it is rejected, thereby ensuring the accuracy of the feeding posture of the three-pin section 410.

[0127] Meanwhile, in the OP10-2 three-pin section feeding station, the three-pin section 410 is fed using an internal support clamping method. The change of its inner diameter (internal spline) is displayed by a displacement ruler. If the inner diameter of the three-pin section 410 exceeds the error range, it is rejected, thereby realizing the error prevention detection of the inner diameter of the three-pin section 410.

[0128] In a preferred embodiment, in the three-pin section installation station OP20, such as Figures 10 to 18 As shown, the press-fitting of the three-pin joint 410 is divided into two parts: spline pre-pressing and pressing, namely the spline mechanism and the three-pin joint press-fitting mechanism. By splitting the process, the working cycle can be improved, thereby improving assembly efficiency and ensuring assembly accuracy.

[0129] In a preferred embodiment, in the three-pin section installation station OP20, such as Figures 10 to 18As shown, the spline mechanism includes a preload gripper unit and an alignment gripper unit. The preload gripper unit is used to grip the three-pin joint 410, and the alignment gripper unit is used to grip the solid shaft 420. The relative movement between the preload gripper unit and the alignment gripper unit can achieve the preload of the three-pin joint 410 on the solid shaft 420. At the same time, the alignment gripper unit can drive the solid shaft 420 to rotate, thereby realizing the spline alignment action between the solid shaft 420 and the three-pin joint 410.

[0130] like Figure 10 , Figure 11 As shown, the pre-compression gripper unit includes a first mounting plate 201 installed on the overall frame of the three-pin joint installation station OP20. A cylinder mounting bracket 203 is fixedly mounted on the first mounting plate 201. A first telescopic cylinder 202 is fixedly mounted on the cylinder mounting bracket 203. A connecting flange 205 is fixedly mounted on the telescopic end of the first telescopic cylinder 202. A three-finger gripper 206 is provided on the end face of the connecting flange 205 away from the first telescopic cylinder 202. A clamping limit block 207 for clamping and limiting the three-pin joint 410 is clamped in the three-finger gripper 206.

[0131] The pre-compression gripper unit also includes a pressure reducing valve 204 fixedly mounted on the first mounting plate 201 and coupled to 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 mounted on the cylinder mounting bracket 203.

[0132] When the clamping limit block 207 clamps the three-pin joint 410, the first telescopic cylinder 202 can drive the three-pin joint 410 to move closer to the solid shaft 420, thereby achieving pre-compression between the three-pin joint 410 and the solid shaft 420. It can be understood that the clamping limit block 207 has a certain floating space within the three-finger gripper 206, which makes the three-pin joint 410 and the solid shaft 420 have better position tolerance during spline assembly, and improves the installation success rate of the three-pin joint 410 and the solid shaft 420.

[0133] In a preferred embodiment, such as Figures 12 to 14 As shown, the alignment gripper mechanism includes a first fixed bracket 208 mounted on the overall frame of the three-pin mounting station OP20. The first fixed bracket 208 is rotatably provided with a central shaft 221 that is parallel to or coaxial with the extension direction of the first telescopic cylinder 202. The central shaft 221 is provided with a gripper drive assembly for gripping the solid shaft 420 and an alignment rotation assembly for driving the gripper drive assembly and the solid shaft 420 to rotate.

[0134] The gripper drive assembly includes a connecting plate 210 fixedly mounted on a central shaft 221. A second telescopic cylinder 209 and a guide block 211 are fixedly mounted on the connecting plate 210. A transmission rack 218 that is slidably connected to the guide block 211 is fixedly mounted on the telescopic end of the second telescopic cylinder 209. A track disk 216 is rotatably mounted on the central shaft 221. A transmission gear 217 that meshes with the transmission rack 218 is fixedly mounted on the end face of the track disk 216 near the connecting plate 210. Three guide arc grooves 220 are arranged in a ring array about the central shaft 221 on the end face of the transmission gear 217 away from the connecting plate 210.

[0135] The gripper drive assembly also includes a limiting disk 212 fixedly mounted on the central shaft 221 and located on the side of the track disk 216 away from the connecting plate 210. The limiting disk 212 has three gripper blocks 213 arranged in a ring about the central shaft 221. The gripper blocks 213 are embedded in the limiting disk 212 and can move radially about the limiting disk 212. A sliding pin 219 is fixedly mounted on the end face of the gripper block 213 near the connecting plate 210. The sliding pins 219 on the three gripper blocks 213 slide in the three guide arc grooves 220 on the track disk 216 respectively.

[0136] A centering pin 215 is fixed on one end of the central shaft 221 relative to the gripper block 213. When the solid shaft 420 is placed between the three gripper blocks 213 and the centering pin 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, it drives the transmission gear 217 and the track disk 216 to rotate. When the track disk 216 rotates, the sliding pin 219 is affected by the position change of the guide arc groove 220 and its position changes within the guide arc groove 220. Due to the arc of the guide arc groove 220, the three gripper blocks 213 retract toward the side closer to the central shaft 221, thereby achieving stable clamping of the solid shaft 420.

[0137] In this embodiment, the aforementioned three-pin joint installation station OP20 is used. The pre-compression gripper unit and the alignment gripper unit cooperate to achieve pre-compression between the solid shaft 420 and the three-pin joint 410. The pre-compression gripper unit has a floating mechanism to improve the tolerance of the cooperation between the three-pin joint 410 and the solid shaft 420. The alignment gripper unit uses gear transmission and track groove guidance to achieve synchronous clamping of the three gripper blocks 213, which effectively ensures the coaxiality of the solid shaft 420 after clamping, thereby ensuring the connection accuracy between the solid shaft 420 and the three-pin joint 410.

[0138] In a preferred embodiment, such as Figure 14As shown, the alignment and rotation assembly includes a hinge seat 224 fixedly mounted on the first fixed bracket 208 and located on the end face of the first fixed bracket 208 away from the gripper block 213. A third telescopic cylinder 223 is hinged on the hinge seat 224. A pull rod 225 is fixedly mounted on the telescopic end of the third telescopic cylinder 223. A shaft-holding block 222 is hinged on the end of the pull rod 225 away from the third telescopic cylinder 223. 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.

[0139] In this embodiment, the above-mentioned three-pin joint installation station OP20 is used. When the third telescopic cylinder 223 extends and retracts, it drives the pull rod 225 to move. Since the extension and retraction direction of the third telescopic cylinder 223 does not exceed the axis of the central shaft 221, the pull rod 225 drives the bearing block 222 and the central shaft 221 to rotate, thereby driving the limit plate 212, the gripper block 213 and the solid shaft 420 to rotate. With the rotation of the solid shaft 420, the spline action with the three-pin joint 410 can be achieved.

[0140] It is understandable that when the pre-pressing gripper unit and the alignment gripper unit clamp the three-pin joint 410 and the solid shaft 420 respectively, the extension and retraction direction of the first telescopic cylinder 202 is coaxial with the central shaft 221. Before the spline alignment and pre-pressing of the three-pin joint 410 and the solid shaft 420, the pre-pressing gripper unit and the alignment gripper unit need to perform clamping actions on the three-pin joint 410 and the solid shaft 420 respectively. Therefore, they are not at the above-mentioned workstations before spline alignment and pre-pressing. Simply put, the pre-pressing gripper unit or the alignment gripper unit is equipped with a horizontal shifting mechanism as shown in the figure, so that the three-pin joint 410 or the solid shaft 420 can be clamped at other workstations and then transferred to the above-mentioned workstations to perform spline alignment and pre-pressing.

[0141] It is understandable that in the above scheme, the preload gripper unit is used to provide displacement in the preload direction. In its setting, a preload displacement component can also be set on the alignment gripper unit. That is, the preload gripper unit is only used to float and clamp the three-pin joint 410. The alignment gripper unit realizes the clamping of the solid shaft 420, the alignment of the spline, and the provision of displacement in the preload direction. As long as the corresponding execution action of the three-pin joint 410 and the solid shaft 420 can be realized, no specific restrictions are made here.

[0142] In a preferred embodiment, in the three-pin section installation station OP20, such as Figures 14 to 18 As shown, the three-pin pressing mechanism includes a floating pressing unit and a support gripper unit. The floating pressing unit is used to apply a pressing force to the three-pin 410, and the support gripper unit is used to hold the pre-pressed solid shaft 420 of the three-pin 410.

[0143] The floating clamping unit includes a second mounting plate 227 installed on the overall frame of the three-pin mounting station OP20. A servo press 226 is fixedly mounted on the second mounting plate 227. A connector 232 is fixedly mounted on the telescopic end of the servo press 226. A floating joint 228 is fixedly mounted on the end face of the connector 232 near the support gripper unit. A connecting pin 234 is provided through the floating joint 228. A floating ball 235 is fixedly connected to the connecting pin 234 inside the floating joint 228. A joint head 233 is sleeved on the floating ball 235. It can be understood that the floating ball 235 can roll relative to the joint head 233 within the joint head 233.

[0144] A transition shaft 229 is fixedly provided on the side of the joint head 233 away from the floating joint 228. The floating clamping unit also includes a second fixed bracket 230 installed on the overall frame of the three-pin joint installation station OP20. A tension / compression sensor 231 is installed on the second fixed bracket 230. The transition shaft 229 is connected to the sensing end of the tension / compression sensor 231 on the side away from the transition shaft 229. A step seat 236 is connected to the sensing end of the tension / compression sensor 231 on the side away from the transition shaft 229. A three-pin joint pressure head 238 is fixedly provided on the step seat 236 by a ball head locking pin 237. A solid shaft ejector pin 239 is elastically extended and retracted on the end face of the step seat 236 away from the transition shaft 229.

[0145] When the servo press 226 starts and drives the solid shaft ejector pin 239 to contact the center of the end face of the solid shaft 420, as the servo press 226 continues to extend, the three-pin joint press head 238 will contact the three-pin joint 410 and press it against the solid shaft 420. During 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 sensing ends on both sides of the tension and compression sensor 231 may not be coaxial during the pressing process of the three-pin joint 410 and the solid shaft 420. At this time, the tension and compression sensor 231 can record the deviation of the sensing ends on both sides, thereby recording the assembly parameters of the three-pin joint 410 and the solid shaft 420, which is convenient for subsequent error analysis and problem tracing.

[0146] In a preferred embodiment, in the three-pin section installation station OP20, such as Figure 14 As shown, the structure of the support gripper unit is similar to that of the alignment gripper unit. The difference is that the support gripper unit does not need to be equipped with an alignment rotation component. That is, the support gripper unit only needs a gripper drive component to clamp the real shaft 420.

[0147] Understandably, since the three-pin joint pressing mechanism and the spline matching mechanism are set on the same workstation, if the cycle time allows, the three-pin joint pressing mechanism and the spline matching mechanism can be set to share the gripper unit of the solid shaft 420. At this time, it is necessary to add a quick-change structure of floating clamping unit and pre-pressing gripper unit. After the pre-pressing gripper unit completes the spline matching and pre-pressing work of the three-pin joint 410 and the solid shaft 420, it can be quickly switched to the floating clamping unit to further clamp the three-pin joint 410 and the solid shaft 420. This setting method can improve the working efficiency of the three-pin joint installation station OP20. However, if the cycle time is not coordinated, the single installation process may take too long, which is not conducive to the overall assembly efficiency of the automotive CV shaft.

[0148] In a preferred embodiment, in the snap ring pressing station OP30, the snap ring 480 is a thin sheet with a circular cross-section, which is pressed into the snap ring groove of the solid shaft 420. The snap ring 480 is fed by a material bar, that is, the snap ring 480 is stacked and threaded onto the material bar by hand, and the individual snap ring 480 is pushed out by an air pump.

[0149] In a preferred embodiment, such as Figures 19 to 21 As shown, the snap ring pressing station OP30 includes a welding frame 310 fixedly installed on the ground. The welding frame 310 is provided with a clamping and positioning mechanism 350 for fixing the solid shaft 420, a snap ring pre-installation mechanism 330 for pre-installing the snap ring 480 on the sleeve head 328, and a pressing detection mechanism 320 for pressing the snap ring 480 on the sleeve head 328 onto the solid shaft 420.

[0150] like Figure 20 , Figure 21 As shown, the press-fitting inspection mechanism 320 includes a main support 321 mounted on the welding frame 310 via a lifting device. A press-fitting cylinder 329 is fixedly mounted on the end face of the main support 321 near the ground. A press-fitting bracket 324 is fixedly mounted on the telescopic end of the press-fitting cylinder 329. A guide rod assembly is provided between the press-fitting bracket 324 and the main support 321. A pressure sleeve 326 is fixedly mounted on the end face of the press-fitting bracket 324 away from the main support 321.

[0151] It is understandable that the lifting device enables the main support 321 to be vertically raised and lowered relative to the welded frame 310. The guide rod assembly is mainly used to guide the movement of the pressing support 324 when the extension end of the pressing cylinder 329 drives the pressing support 324 to move, so that the movement of the pressing support 324 and the pressing sleeve 326 is more stable.

[0152] The main support 321 is also fixedly provided with a lifting cylinder 322 that has the same extension and retraction direction as the pressing cylinder 329. The extension and retraction end of the lifting cylinder 322 is fixedly connected with a lifting guide rod 325 that is coaxial with the pressing sleeve 326. The pressing sleeve 326 has a through hole in the axial direction. The end of the lifting guide rod 325 away from the lifting cylinder 322 passes through the pressing support 324 and the through hole of the pressing sleeve 326 and can be installed with a sleeve head 328 through a quick-change structure.

[0153] Among them, the sleeve 328 is a rotating body and the radius of the end away from the lifting guide rod 325 is larger than the inner diameter of the snap ring 480. At the same time, the through hole in the pressure sleeve 326 is clearance-fitted with the end of the sleeve 328 away from the lifting guide rod 325.

[0154] The quick-change structure includes a quick-change sleeve fixedly mounted on the inner wall of the through hole of the pressure sleeve 326 and slidably connected to the lifting guide rod 325. The quick-change sleeve has a stepped groove on the side 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 has an insertion hole on the side away from the lifting cylinder 322. Multiple ball grooves are provided between the inner wall of the insertion hole and the outer circular surface of the lifting guide rod 325. The ball grooves contain limiting balls that can abut against the inner wall of the stepped groove in the quick-change sleeve. The sleeve head 328 has a limiting groove on the side that mates with the quick-change component that can mate with the limiting balls.

[0155] Understandably, when the sleeve 328 is installed on the lifting guide rod 325, the limiting ball is located in the limiting groove inside the sleeve 328 under the action of the inner wall of the smaller diameter section of the stepped groove, thus realizing the quick-connect snap-fit ​​of the sleeve 328 onto the lifting guide rod 325. When the sleeve 328 is removed from the lifting guide rod 325, the relative position between the lifting guide rod 325 and the quick-change sleeve changes, that is, the limiting ball moves to the inner wall of the larger diameter section of the stepped groove. At this time, the action of the stepped groove on the limiting ball is released, and the limiting ball disengages from the limiting groove on the sleeve 328. That is, the snap-fit ​​between the sleeve 328 and the lifting guide rod 325 is released, and it can be directly removed from the lifting guide rod 325 to achieve quick-change.

[0156] A detection cylinder 323 with the same extension and retraction direction as the pressing cylinder 329 is fixedly provided on the end face of the pressing bracket 324 away from the lifting cylinder 322. A detection sleeve 327 is fixedly provided on the extension and retraction end of the detection cylinder 323, which is sleeved on the pressing sleeve 326 and slidably connected to the pressing sleeve 326. A displacement gauge for monitoring the stroke of the detection sleeve 327 is also provided on the pressing bracket 324.

[0157] like Figure 22 , Figure 23As shown, the snap ring pre-assembly mechanism 330 includes a connecting frame 331 fixedly mounted on the welding frame 310 and located between the press-fitting detection mechanism 320 and the clamping and positioning mechanism 350. A sliding table 332 is connected to the end face of the connecting frame 331 away from the ground via an electric slide rail. The sliding table 332 can slide horizontally linearly under the action of the electric slide rail. A follower bracket 333 is fixedly mounted on the end face of the sliding table 332 away from the ground. A feeding fixture 335 and a pushing assembly cooperating with the feeding fixture 335 are fixedly mounted on the end face of the follower bracket 333 away from the ground. The pushing assembly includes a fixed... A pusher cylinder 334 is installed on the end face of the follower bracket 333 away from the ground. The extension and retraction direction of the pusher cylinder 334 is the same as the sliding direction of the sliding table 332, and a dropping plate 339 is fixedly installed on the extension and retraction end. The loading fixture 335 is located on the side of the dropping plate 339 away from the ground, and the end of the loading fixture 335 is located on the extension and retraction path of the dropping plate 339. Multiple retaining springs 480 are preset on the loading fixture 335. During the extension and retraction of the dropping plate 339, the retaining springs 480 stacked on the loading fixture 335 can fall onto the dropping plate 339 and be positioned in the dropping groove on the dropping plate 339.

[0158] A fixed rod 336 is also fixedly installed on the end face of the follower bracket 333 away from the ground. A material support cylinder 337 is fixedly connected to the fixed rod 336. The extension and retraction direction of the material support cylinder 337 is the same as that of the lifting cylinder 322, and a material support claw 338 is fixedly installed on the extension and retraction end. The material support claw 338 has a three-claw structure and can open and grab the snap ring 480 placed on the dropping plate 339 from the inside.

[0159] A transition slide 340 is connected to the end face of the sliding table 332 away from the ground via an electric slide rail. The sliding direction of the transition slide 340 is the same as that of the sliding table 332. A limiting claw assembly 341 is fixedly provided on the end face of the transition slide 340 away from the ground. The sleeve head 328 can be clamped and fixed on the transition slide 340 by the limiting claw assembly 341.

[0160] Working principle of OP30 snap ring press station:

[0161] Initially, the clamping and positioning mechanism 350 is not equipped with the solid shaft 420, the material dropping groove on the material dropping 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 one end of it is facing upwards in cooperation with the quick change structure, and the lifting cylinder 322, pressing cylinder 329 and detection cylinder 323 on the pressing and detection mechanism 320 are all in the retracted state;

[0162] During pre-pressing, the material discharge plate 339 extends, and the retaining spring 480 on the loading tool 335 falls into the material discharge groove on the material discharge plate 339 and is located at the corresponding position of the supporting claw 338. The supporting cylinder 337 starts to drive the supporting claw 338 to open and grab the retaining spring 480 on the material discharge plate 339. The material discharge plate 339 retracts, and the supporting claw 338 puts the retaining spring 480 on the sleeve head 328 on 314 and then resets.

[0163] During press-fitting, the transition slide 340 extends to the corresponding position of the lifting guide rod 325. The press-fitting detection mechanism 320 moves towards the ground under the action of the lifting device. During this movement, the lifting guide rod 325 changes its relative position to the pressing sleeve 326 through extension and retraction. After the retaining ring 480 on the limiting claw assembly 341 is inserted into the lifting guide rod 325, it is secured in the insertion hole on the lifting guide rod 325 by a quick-change device. Once the sleeve head 328 is installed, the solid shaft 420 resets under the action of the lifting device, and the transition slide 340 resets. The solid shaft 420 to be fitted with the retaining ring 480 is fixed to the ground-facing side of the press-fitting detection mechanism 320 by the clamping and positioning mechanism 350. At this time, the press-fitting detection mechanism 320... Under the action of the lifting device, the sleeve 328 moves closer to the ground until it contacts the solid shaft 420. The pressing cylinder 329 starts and drives the pressing sleeve 326 to move closer to the ground. Under the action of the pressing sleeve 326, the retaining ring 480 on the sleeve 328 is pushed to the corresponding position on the solid shaft 420. The detection cylinder 323 starts and drives the detection sleeve 327 to move closer to the ground. That is, the detection sleeve 327 detects the installation status of the retaining ring 480 on the solid shaft 420 and senses the travel distance of the detection sleeve 327 through the displacement gauge. When the obtained travel distance deviates from the expectation, a signal is sent to the control terminal for manual verification of the pressing. If the detection is qualified, the pressing detection mechanism 320 is reset as a whole and the next pressing cycle is performed.

[0164] In a preferred embodiment, the first fixed-end clamp closing station OP70 and the second fixed-end clamp closing station OP80 respectively reduce the opening of the fixed-end large clamp 451 with different structures. When the fixed-end large clamp 451 has no ear structure, it is locked by the first fixed-end clamp closing station OP70. When it has an ear structure, the first fixed-end clamp closing station OP70 is skipped and it is locked by the second fixed-end clamp closing station OP80. A spline matching process is set on the second fixed-end clamp closing station OP80. This process is to rotate the fixed-end large clamp 451 and locate the position of the ear structure of the fixed-end large clamp 451 by the camera, so as to facilitate the positioning when clamping the ear structure of the fixed-end large clamp 451 in the future.

[0165] It is understandable that the transfer of the solid shaft 420 in the first fixed end clamping and finishing station OP70 and the second fixed end clamping and finishing station OP80 is carried out by the second robot OP320. That is, the second robot OP320 clamps the solid shaft 420 and flips it. Similarly, all NG parts generated in the previous process are removed by the second robot OP320. That is, the NG parts generated in the previous process are transferred to the operating position of the second robot OP320 according to the process and are removed by the second robot OP320.

[0166] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0167] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A three-pin joint mounting station for CV shaft assembly, characterized in that, It includes a spline mechanism and a three-pin pressing mechanism. The spline mechanism is used for spline connection and pre-pressing between the solid shaft and the three-pin joint, and the three-pin pressing mechanism is used for pressing between the solid shaft and the three-pin joint. The spline mechanism includes a preload gripper unit for clamping the three pins and applying preload to the three pins, and an alignment gripper unit for clamping the solid shaft and driving the solid shaft to rotate to achieve spline action. The three-pin pressing mechanism includes a floating pressing unit for applying a pressing force to the three pins, the floating pressing unit comprising: The second mounting plate is fixedly mounted on a mounting frame; A servo press is fixedly mounted on the second mounting plate; A floating joint is fixedly installed on the telescopic end of the servo press; The floating ball is fixedly installed inside the floating joint; The articulated head is fitted onto the floating ball and is capable of rolling relative to the floating ball; The transition shaft is fixedly installed on the end of the joint head away from the servo press; A step seat is connected to the end of the transition shaft away from the joint head; The three-pin joint pressure head is fixedly installed on the side of the stepped seat away from the joint head; The solid shaft ejector pin is elastically telescopically mounted on the end face of the stepped seat away from the joint head.

2. The three-pin mounting station for CV shaft assembly according to claim 1, characterized in that, The pre-compression gripper unit includes: The first mounting plate is fixedly mounted on a mounting frame; A cylinder mounting bracket is fixedly mounted on the first mounting plate; The first telescopic cylinder is fixedly mounted on the cylinder mounting bracket; A three-finger gripper is fixedly mounted on the telescopic end of the first telescopic cylinder; A clamping and limiting block is disposed within the three-finger gripper and is used to clamp and limit the three pin joints; The clamping and limiting block has a floating gap within the three-finger gripper.

3. The three-pin mounting station for CV shaft assembly according to claim 2, characterized in that, The pre-compression gripper unit also includes a displacement sensor fixedly mounted on the cylinder mounting bracket and used to detect the extension and retraction stroke of the first telescopic cylinder.

4. The three-pin joint mounting station for CV shaft assembly according to any one of claims 1 to 3, characterized in that, The alignment gripper unit includes: The first fixed bracket is fixedly mounted on the mounting frame; The central shaft is rotatably mounted on the first fixed bracket and is coaxial or parallel to the telescopic end of the first telescopic cylinder; A gripper drive assembly is fixedly mounted on the central shaft and is used to clamp the solid shaft. The alignment and rotation assembly is used to drive the gripper drive assembly and the real shaft to rotate.

5. The three-pin mounting station for CV shaft assembly according to claim 4, characterized in that, The gripper drive assembly includes: The connecting plate is fixedly mounted on the central shaft; The second telescopic cylinder is fixedly mounted on the connecting plate; A transmission rack is fixedly mounted on the telescopic end of the second telescopic cylinder; The track disk is rotatably mounted on the central axis; A transmission gear is fixedly mounted on the track disk and meshes with the transmission rack. Three guide arc grooves are arranged in a circular array about the central axis on the track disk; A limiting plate is fixedly mounted on the central shaft; Three gripper blocks are arranged in a circular array about the central axis and embedded in the limiting plate; A sliding pin is fixedly mounted on the gripper block and can slide within the guide arc groove; A centering pin is fixedly disposed on one side of the central axis relative to the gripper block. When the track disk rotates relative to the limiting disk, the gripper block can move radially along the limiting disk.

6. The three-pin mounting station for CV shaft assembly according to claim 5, characterized in that, The alignment rotation assembly includes: The third telescopic cylinder is hinged to the first fixed bracket; The pull rod is fixedly mounted on the telescopic end of the third telescopic cylinder; The shaft-holding block is hinged to the end of the pull rod on the side away from the third telescopic cylinder; The extension / retraction direction of the third telescopic cylinder does not pass through the axis of the central shaft.

7. The three-pin mounting station for CV shaft assembly according to claim 1, characterized in that, The three-pin press-fitting mechanism includes a support gripper unit for clamping the solid shaft.

8. The three-pin mounting station for CV shaft assembly according to claim 1, characterized in that, The floating clamping unit also includes: The second fixed bracket is fixedly mounted on the mounting frame; The tension / compression sensor is fixedly mounted on the second fixed bracket, and its two sensing ends are respectively connected to the transition shaft and the step seat.

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