Ball mounting device for ball screw pair of steering gear

Abstract

According to the ball mounting device for the ball screw pair of the steering gear, the angle of the nut base is adjusted through the nut rotation driving structure in the steel ball mounting process, and then injection of steel ball channels with inlets of different angles is guaranteed; the ball injection structure achieves lifting motion based on the ball loading lifting driving structure, and it is ensured that steel ball channels with different heights are injected. And automatic discharging of the steel balls is achieved through cooperation of the discharging structure and the ball injection structure, and the installation efficiency is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of ball screw pair manufacturing equipment, in particular to a ball loading device for a steering gear ball screw pair. Background Art

[0002] The screw nut unit is a highly efficient actuator that converts rotary motion into linear motion. Figure 1 As shown, it is a ball screw pair N used in a steering gear. In the figure, N1 is a nut, N2 is a bearing outer ring, N3 is a retainer, N4 is a sealing cover, and N5 is a steering gear. Four arc-shaped steel ball channels N6 are opened in the inner cavity of the nut N1, and a group of 18 steel balls N7 are placed in each steel ball channel N6. The four channels N6 are parallel to each other and isolated from each other. The steel balls N7 in each channel circulate in the channel when moving. When assembling the ball screw pair, first assemble the nut N1, the bearing outer ring N2, the retainer N3, the sealing cover N4 and the steering gear N5, and then inject the steel balls N7 into the channel N6. After injecting the steel balls, the matching long screw rod needs to be installed into the inner cavity of the nut N1 immediately.

[0003] Because the four groups of channels are located at different heights and the channel entrances are located at different angles, and at the same time, the channels are gentle arc-shaped channels, it is impossible to directly inject the balls based on gravity. The process of injecting steel balls N7 in the prior art is semi-manual operation, which relies on tools and manual labor to inject steel balls N7 into channel N6, and the overall efficiency is low. Summary of the invention

[0004] In order to solve the problem of low overall efficiency in the prior art of manually injecting steel balls into the steel ball grooves of the nut of the steering gear ball screw pair based on tools, the present invention provides a steering gear ball screw pair ball loading device, which can efficiently and quickly install steel balls into steel ball grooves at different positions in the inner cavity of the nut.

[0005] The technical solution of the present invention is as follows: a ball loading device for a ball screw pair of a steering gear, comprising: a material unloading structure, a ball injection structure, a clamping structure and a ball loading lifting and driving structure installed on a main bracket; characterized in that: The material unloading structure and the ball injection structure are arranged above the clamping structure; the ball injection structure realizes lifting and lowering motion based on the ball loading lifting and lowering driving structure; the clamping structure comprises: a nut clamping structure and a screw rod clamping structure arranged from top to bottom; the nut to be installed is arranged in the nut clamping structure, and the screw rod to be installed is arranged in the screw rod clamping structure; The nut clamping structure comprises: a nut seat, a base and a nut pressing structure; The inner cavity of the nut seat is adapted to the shape of the nut to be installed, and the nut seat is installed above the base; a screw rod channel is provided in the center of the base and the nut seat, and the size of the screw rod channel is adapted to the screw rod to be installed; The nut pressing structure comprises: a semi-ring pressing plate, a pressing cylinder and a pressing installation horizontal plate; the pressing installation horizontal plate is arranged on the base, the output end of the pressing cylinder is upwardly mounted on the pressing installation horizontal plate, and the semi-ring pressing plate is horizontally arranged on the output end of the pressing cylinder; the shape of the semi-ring pressing plate is adapted to the upper end surface of the nut to be installed, and the size of the annular cavity in the center of the semi-ring pressing plate is adapted to the central cavity of the nut to be installed; The nut rotation driving structure comprises: a nut seat support plate, a rotation cylinder and a rack; A base mounting groove is arranged on the nut support plate, the base is movably mounted in the base mounting groove, and an annular external gear is arranged on the outer periphery of the base; the rack and the rotating cylinder are arranged on the nut support plate; the rack is arranged horizontally and is meshed with the annular external gear on the base; the output shaft of the rotating cylinder is arranged horizontally, and the output shaft is connected to the rack.

[0006] It is further characterized by: The material unloading structure comprises: a steel ball unloading plate, an ejection block, a first ball sealing plate, a second ball sealing plate, a first ball releasing cylinder and a second ball releasing cylinder; Two parallel ball storage channels are vertically arranged in the steel ball unloading plate, and the diameter of the ball storage channels is adapted to the diameter of the steel balls; the middle position and the bottom outlet of the storage and access channels are respectively provided with through grooves for inserting the first ball sealing plate and the second ball sealing plate; the first ball sealing plate and the second ball sealing plate are horizontally arranged and respectively connected to the output ends of the first ball releasing cylinder and the second ball releasing cylinder; The ejector block is arranged at the bottom end of the steel ball unloading plate, and the first ball sealing plate and the second ball sealing plate are arranged on a side of the steel ball unloading plate away from the ball injection structure; The material unloading structure is driven by the horizontal driving structure and moves horizontally above the clamping structure; The ball injection structure comprises: a ball ejector rod and a steel ball introduction structure; The two ball-pushing rods are arranged above the steel ball introduction structure; the ball-pushing rod comprises a straight rod portion and a spring portion, the top end of the straight rod portion is connected to the ball-pushing lifting structure, and the bottom end is connected to the spring portion; the fixed ball rod realizes lifting movement in the up-and-down direction based on the fixed ball rod lifting driving structure; The steel ball introduction structure is arranged above the clamping structure; the steel ball introduction structure comprises: a movable shielding structure, a buffering part, a ball injection part and a ball protection part arranged in sequence from top to bottom; Two steel ball lanes are respectively arranged inside the buffer section and the ball injection section, the bottom of the buffer section is connected to the ball injection section, and the ball lanes of the buffer section and the ball injection section are interconnected; The movable shielding structure comprises: a shielding bracket, a steel ball introduction block, a baffle and a return spring; The shielding bracket is L-shaped, the horizontal plate of the shielding bracket is horizontally arranged on the buffer portion, and a reset slide rail is arranged above the horizontal plate of the shielding bracket; The reset spring is sleeved on the sliding rod, a spring cavity is horizontally provided in the steel ball introduction block, a through hole is provided on the vertical plate of the shielding bracket, the sliding rod is arranged in parallel with the reset slide rail, one end of the sliding rod is fixed in the spring cavity, and the other end is movably installed in the through hole; one end of the reset spring presses against the vertical plate of the shielding bracket, and the other end presses against the spring cavity; The steel ball introduction block is horizontally slidably installed on the reset slide rail based on the connection structure; one end of the steel ball introduction block away from the reset spring extends out of the reset slide rail and is located at the top of the cache part; The block body of the steel ball introduction block is provided with two groups of through holes penetrating the introduction block from top to bottom: a ball hole and a ball-pushing hole; the ball-pushing hole is in the shape of an inverted frustum of a cone that is wide at the top and narrow at the bottom; two through holes are provided in each group, and the distance between the two holes in each group of through holes is adapted to the two ball-pushing rods; The ball hole is arranged on a side of the top ball hole away from the return spring; The baffle is fixedly arranged on the top surface of the steel ball introduction block; The lower half of the two steel ball channels in the inner cavity of the ball injection part is configured as an arc channel from top to bottom, and the outlet positions of the two arc channels are respectively adapted to the inlet positions of the two steel ball channels in the inner cavity of the nut to be installed; the curvature of the two arc channels is adapted to the curvature of the steel ball channels in the nut to be installed; The ball protection part is connected to the bottom of the ball injection part, and the sizes of the ball injection part and the ball protection part are adapted to the size of the inner cavity of the nut; The ball injection structure also includes a middle ball sealing structure, which includes: a ball sealing driving cylinder and a lateral ball sealing slider; A sliding channel is horizontally provided inside the buffer; the ball-sealing driving cylinder is horizontally arranged on one side of the buffer; one end of the horizontal ball-sealing sliding block is connected to the output end of the ball-sealing driving cylinder, and the other end is inserted into the sliding channel; two parallel vertical steel ball channels are provided in the horizontal ball-sealing sliding block, and the positions and sizes of the steel ball channels are adapted to the ball channels of the buffer; The ball loading lifting and driving structure comprises: a guide rail mounting plate, a guide rail, a lifting and lowering slide plate, an upper cylinder, a lower cylinder and a lifting and lowering push plate; The lifting guide rail is mounted on the guide rail mounting plate, and the lifting slide plate is slidably connected to the lifting guide rail; The upper cylinder and the lower cylinder are both fixedly mounted on the guide rail mounting plate; the upper cylinder is located above the lower cylinder; The lifting push plate is installed on the lifting slide plate and is located between the upper cylinder and the lower cylinder; the output end of the upper cylinder is connected downward to the lifting push plate; the output end of the lower cylinder is upward and is located below the lifting push plate; A ball injection structure mounting plate is provided on the lifting slide; the ball injection structure is mounted on the ball injection structure mounting plate; It also includes a limit screw, which is arranged on the lower end surface of the lifting push plate; a limit horizontal plate is arranged on the mounting plate of the lower cylinder; and the limit screw is arranged just above the limit horizontal plate; The screw rod clamping structure comprises: a bottom clamping structure and a middle clamping structure; The middle clamping structure comprises: a tightening drive cylinder, two clamping rollers and a tightening roller; The clamping roller and the tightening roller are rotatably arranged on the same horizontal plane and located at the three vertices of a triangle, and the rotation axes of the three rollers are parallel to the screw rod to be installed; the two clamping rollers and the tightening drive cylinder are fixedly installed under the nut clamping structure at the same time, the output shaft of the tightening drive cylinder is horizontally arranged, and the tightening roller is connected to the output shaft of the tightening drive cylinder; The bottom clamping structure comprises: a clamping air claw, a bottom rotating seat, a bottom rotating driving motor, a guide rail for screw lifting, a slide plate for screw lifting and a cylinder for screw lifting driving; The screw rod lifting rail is fixed on the lifting rail connecting plate, and the screw rod lifting slide plate is slidably mounted on the screw rod lifting rail; the screw rod lifting driving cylinder is fixed on the lifting rail connecting plate, and the output end is upwardly arranged to connect the screw rod lifting slide plate; A rotating seat mounting plate is arranged on the slide plate for screw rod lifting, and the bottom rotating drive motor is arranged on the slide plate for screw rod lifting; the bottom rotating seat is rotatably mounted on the rotating seat mounting plate based on the bottom rotating shaft, and the clamping air claw is arranged on the top of the bottom rotating seat, directly below the middle clamping structure; the bottom rotating drive motor drives the bottom rotating seat to rotate based on the bottom rotating shaft.

[0007] The present application provides a steering gear ball screw assembly ball loading device, which adjusts the angle of the nut seat during the steel ball installation process through the nut rotation drive structure, thereby ensuring the injection of steel ball channels with different angle entrances; the ball injection structure realizes lifting movement based on the ball loading lifting drive structure, ensuring the injection of steel ball channels at different heights. The automatic unloading of steel balls is achieved through the cooperation of the unloading structure and the ball injection structure, effectively improving the installation efficiency. The present application sets two arc-shaped channels from top to bottom in the inner cavity of the ball injection part of the ball injection structure, ensuring that the steel ball can smoothly enter the steel ball channel in the nut to be installed, and by setting the lower half of the ball push rod as a spring structure, it is ensured that after the fixed ball rod penetrates into the inner cavity of the ball injection part, the steel ball can be smoothly pushed from the arc-shaped channel into the steel ball channel in the nut to be installed. In the technical solution of the present application, after the first injection of steel balls is completed, the second group of steel balls is placed in the ball injection structure through the feeding structure, and the nut seat is lifted by the ball loading lifting drive structure, and then the two groups of steel balls are simultaneously pushed into the nut steel ball groove for the second time by the ball pushing rod. The present application sets a middle ball sealing structure in the ball injection structure to ensure that after the second group of steel balls are fed, they will not roll down immediately, but remain in the cache part of the ball injection structure. Through the cooperation of the middle ball sealing structure and the ball loading lifting drive structure, it is ensured that the steel balls of the nut steel ball grooves of different heights can be installed without adjusting the height of the feeding structure, thereby reducing the complexity of the system and improving the efficiency of steel ball installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a cross-sectional structural schematic diagram of a nut of a ball screw pair of a steering gear in the prior art; Figure 2 This is a schematic diagram of the overall structure of the ball screw assembly of the steering gear in this application; Figure 3 It is a schematic diagram of the material cutting structure; Figure 4 It is a structural schematic diagram of the steel ball blanking plate; Figure 5 It is a schematic diagram of the nut clamping structure; Figure 6 It is a schematic diagram of the screw rod clamping structure; Figure 7 It is a schematic diagram of the three-dimensional structure of the ball injection structure; Figure 8 It is a structural schematic diagram of the main view of the ball injection structure; Fig. 9 It is a schematic structural diagram of the cross-section of the ball injection structure; Fig.10 It is a schematic diagram of the fairway structure of the ball injection department. DETAILED DESCRIPTION

[0009] like Figure 2~Figure 10As shown, the present invention includes a ball loading device for a steering gear ball screw pair, which includes: a material unloading structure 2 installed on a main bracket 1, a clamping structure, a ball injection structure 5 and a ball loading lifting drive structure 6.

[0010] The material discharge structure 2 and the ball injection structure 5 are arranged above the clamping structure; the ball storage structure 7 stores steel balls of various specifications, and the ball storage structure 7 and the material discharge structure 2 are connected by a steel ball pipeline composed of a hose to supply materials to the material discharge structure 2 in real time.

[0011] The clamping structure includes: a nut clamping structure 3 and a screw rod clamping structure 4 arranged from top to bottom; the nut N1 to be installed is arranged in the nut clamping structure 3, and the screw rod N8 to be installed is arranged in the screw rod clamping structure 4.

[0012] like Figure 5 As shown, the nut clamping structure 3 includes: a nut seat 31, a base 32 and a nut pressing structure; the inner cavity of the nut seat 31 is adapted to the bottom shape of the nut N1 to be installed, and the nut seat 31 is installed above the base 32; the base 32 and the nut seat 31 center open a screw rod channel, and the size of the screw rod channel is adapted to the screw rod to be installed. The bottom (outer ring part) of the nut N1 to be installed is installed in the nut seat 31, the height of the nut N1 is higher than the nut seat, and the top is pressed from top to bottom in the nut seat by the nut pressing structure to ensure that the nut N1 to be installed will not move during the installation process.

[0013] The nut clamping structure includes: a semi-ring pressure plate 33, a clamping cylinder 34 and a clamping installation horizontal plate 35; the clamping installation horizontal plate 35 is arranged on the base 32, the output end of the clamping cylinder 34 is upwardly mounted on the clamping installation horizontal plate 35, and the semi-ring pressure plate 33 is horizontally arranged at the output end of the clamping cylinder 34; the shape of the semi-ring pressure plate 33 is adapted to the upper end face of the nut to be installed, and the size of the annular cavity in the center of the semi-ring pressure plate 33 is adapted to the central cavity of the nut to be installed, ensuring that when the nut and the screw rod are assembled, the screw rod N8 to be installed can be smoothly installed into the inner cavity of the nut N1 to be installed.

[0014] In the default state, the output end of the clamping cylinder 34 is in an extended state. When the nut N1 to be installed is loaded and placed in the nut seat 31, the output end of the clamping cylinder 34 contracts, pulling the semi-ring pressure plate 33 downward so that the semi-ring pressure plate 33 is pressed on the upper end surface of the nut N1 to be installed.

[0015] The clamping cylinder 34 is installed on the base 32 through the clamping mounting cross plate 35, ensuring that when the base 32 is driven by the nut rotating driving structure 8 to change the angle, the nut clamping structure can also change the angle together without being separated from the nut N1 when the nut seat rotates, effectively reducing the operating steps and improving the overall work efficiency.

[0016] In order to realize the ball loading at different angles, a nut rotation driving structure 8 is also provided in the present application. Figure 5 As shown, the nut rotation driving structure 8 includes: a rotation cylinder 82 and a rack 83.

[0017] A base mounting groove 361 is provided on the nut support plate 36, the base 32 is movably installed in the base mounting groove 361, and an annular external gear (not marked in the figure) is provided on the outer periphery of the base 32; the rack 83 and the rotating cylinder 82 are provided on the nut support plate 36, the rack 83 is arranged horizontally and meshed with the annular external gear on the base 32; the output shaft of the rotating cylinder 82 is arranged horizontally, and the output shaft is connected to the rack 83; the rack 83 is arranged above the nut support plate 36 based on the slider rail structure to reduce the friction resistance of the rack when it moves horizontally.

[0018] The default position of the output shaft of the rotating cylinder 82 is the installation position of the first set of steel balls in the nut N1 to be installed. When the first set of steel balls in the nut N1 to be installed is installed, the angle needs to be changed. When the second set of steel balls is installed, the rotating cylinder 82 is started, and the rack 83 is pulled horizontally. The rack 83 moves horizontally, driving the base 32 engaged with the thread to rotate. The output shaft of the rotating cylinder 82 moves to the preset position and stops, and the nut N1 to be installed rotates to the installation angle of the second set of steel balls.

[0019] The nut rotation drive structure 8 is also provided with an angle confirmation sensor 81, which is provided on the side of the base 32 and the detection position is located above the nut seat 31. The current angle of the nut N1 to be installed is confirmed based on the position of the diverter N5 on the nut N1. Once the angle position is found to be incorrect, an alarm is issued to ensure the accuracy of the installation position of the steel ball.

[0020] Because the ball injection part 523 and the ball protection part 524 in the ball injection structure 5 are movably inserted into the inner cavity of the nut N1, the rotation of the nut N1 will not affect the ball injection part 523 and the ball protection part 524. The specific rotation angle is adaptively set according to the specific conditions of the steel ball channel in the inner cavity of the nut N1.

[0021] like Figure 3 As shown, the material discharge structure 2 includes: a steel ball discharge plate 21, an ejection block 22, a first ball sealing plate, a second ball sealing plate, a first ball releasing cylinder 23 and a second ball releasing cylinder 24.

[0022] like Figure 4As shown, two parallel ball storage channels 211 are vertically arranged in the steel ball unloading plate 21, and the diameter of the ball storage channel 211 is adapted to the diameter of the steel ball; the middle position and the bottom outlet of the access channel are respectively provided with the insertion slots 212 for the first ball sealing plate (not marked in the figure) and the second ball sealing plate (not marked in the figure); the shape of the insertion slots 212 is adapted to the shape of the two ball sealing plates. The first ball sealing plate and the second ball sealing plate are arranged horizontally, and are respectively connected to the output ends of the first ball releasing cylinder 23 and the second ball releasing cylinder 24; the ejection block 22 is arranged at the bottom end of the steel ball unloading plate 21, and the two are integrally formed during specific processing. The first ball sealing plate and the second ball sealing plate are arranged on the side of the steel ball unloading plate 21 away from the ball injection structure, and the ball storage channel 211 is closed or released based on the insertion or ejection of the first ball releasing cylinder 23 and the second ball releasing cylinder 24 into the slots 212.

[0023] The present application ensures that the unloading structure 2 can carry four groups of steel balls required for a nut each time it unloads material through the number and length of the ball storage channels 211 set in the steel ball unloading plate 21, and the coordinated action of the two ball sealing plates, without the need to unload material from the ball storage structure 7 again in the middle; during the installation process, the steel balls in the ball storage channels 211 are grouped by the two ball sealing plates and the remaining steel balls are cached when the steel balls are installed for the first time, ensuring that two groups of steel balls can be provided to the ball injection structure 5 each time, effectively improving the overall ball loading efficiency.

[0024] The feeding structure 2 is driven by the horizontal driving structure 25 and moves horizontally above the clamping structure 5; the distance between the ejection block 22 and the outlet of the ball storage channel 211 of the steel ball feeding plate 21 is adapted to the distance between the baffle 5213 and the goal hole 5215 on the steel ball introduction block 5212; the baffle is located on the horizontal stroke of the ejection block, and when the ejection block 22 contacts the baffle 5213 and pushes the steel ball introduction block 5212 to slide horizontally, the outlet of the ball storage channel 211 of the steel ball feeding plate 21 and the goal hole 5215 are connected to each other up and down, ensuring that the steel balls in the ball storage channel 211 can slide down into the steel ball introduction block 5212 based on gravity after the ejection block ejects the baffle 5213. In specific implementation, the steel ball feeding plate 21 can be set to a transparent material, and then the sensor is used to detect whether there are steel balls in the steel ball feeding plate 21 and the specific number of steel balls.

[0025] The ball storage structure 7 is connected based on the steel ball pipeline to inject steel balls into the ball storage channel 211. The length of each ball storage channel 211 is exactly the diameter length of two groups of steel balls. When the ball storage structure 7 is unloading, the output end of the first ball release cylinder 23 in the middle position is in a retracted state, and the output end of the second ball release cylinder 24 at the bottom is in an extended state. The second ball sealing plate is inserted into the insertion groove 212 at the bottom to seal the bottom outlets of the two ball storage channels 211 at the same time. Ensure that the four groups of steel balls can be completely placed in the two ball storage channels 211. After the ball storage structure 7 is unloaded, the output end of the first ball release cylinder 23 in the middle is extended, and the first ball sealing plate in the middle is inserted into the insertion groove 212 in the middle to divide the steel balls in each ball storage channel 211 into two groups.

[0026] When installing the steel balls for the first time, the horizontal driving structure 25 drives the unloading structure 2 to move to the top of the ball injection structure 5, and the ejection block 22 pushes the baffle 5213 to push the movable shielding structure 521 horizontally, so that the goal hole 5215 is aligned with the bottom outlet of the ball storage channel 211 and the entrance of the steel ball channel of the buffer 522 at the same time, and the second ball release cylinder 24 at the bottom contracts to release the bottom ball outlets of the two ball storage channels 211, and simultaneously unloads two groups of steel balls into the ball injection structure 5. After unloading, the second ball release cylinder 24 at the bottom extends to close the bottom of the ball storage channel 211 again. The horizontal driving structure 25 drives the unloading structure 2 back to the default position.

[0027] When the ball injection structure 5 injects steel balls into the nut N1, the output end of the first ball release cylinder 23 in the middle position is retracted, and the two groups of steel balls cached in the upper part are placed at the bottom of the ball storage channel 211. After the first steel ball injection process of the ball injection structure 5 is completed, the horizontal driving structure 25 drives the unloading structure 2 to move horizontally to the top of the ball injection structure 5 to inject two groups of steel balls into the ball injection structure 5 again. Then the unloading structure 2 returns to the default position again to perform its own steel ball injection procedure, completing the preparation for the next installation. Through the cooperation of the ball storage channel 211 and the two ball sealing plates, two steel ball loadings are set for each nut, without the need for additional waiting time in between, which effectively improves the overall work efficiency.

[0028] like Figure 8~Figure 9 As shown, the ball injection structure 5 includes: a ball ejecting rod 51 , a steel ball introducing structure 52 and a middle ball sealing structure 53 .

[0029] Two ball-pushing rods 51 are arranged above the steel ball introduction structure 52; the ball-pushing rods 51 are driven by a ball-pushing rod lifting and lowering driving structure (not marked in the figure) based on a cylinder or other device to achieve vertical lifting and lowering motion. The two ball-fixing rods 51 are located directly above the two steel ball passages of the buffer section 522.

[0030] The ball push rod 51 includes a straight rod portion and a spring portion. The top end of the straight rod portion is connected to the ball push rod lifting structure, and the bottom end is connected to the spring portion. In the present application, the steel ball channels in the movable shielding structure 521 and the buffer portion 522 are vertical channels, and the steel ball channel of the ball injection portion 523 is as shown in FIG. Fig.10 As shown, the top of the steel ball channel is a vertical channel, and in order to allow the steel balls to smoothly enter the gently curved steel ball groove in the inner cavity of the nut, an arc-shaped channel from top to bottom is arranged at the bottom, providing a certain slope for entering the steel ball groove inside the nut. Because the steel ball groove inside the nut is very gentle, the gravity of the steel balls and the arc-shaped channel alone cannot allow a group of 18 steel balls to enter the inside of the nut. Therefore, in the present application, a spring component is arranged under the fixed ball rod 51, and the length of the spring component is greater than the length of the arc-shaped channel in the ball injection part 523, to ensure that all the steel balls in a group can be pushed into the inside of the nut.

[0031] The steel ball introduction structure 52 is arranged just above the nut seat 31 in the clamping structure. The steel ball introduction structure 52 comprises: a movable shielding structure 521, a buffer portion 522, a ball injection portion 523 and a ball protection portion 524 arranged from top to bottom; two steel ball tracks are arranged inside the buffer portion 522 and the ball injection portion 523 respectively, the bottom of the buffer portion 522 is connected to the ball injection portion 523, and the ball tracks of the buffer portion 522 and the ball injection portion 523 are interconnected.

[0032] The movable shielding structure 521 includes: a shielding bracket 5211 , a steel ball introducing block 5212 , a baffle 5213 and a return spring 5214 .

[0033] The shielding bracket 5211 is L-shaped, the horizontal plate of the shielding bracket 5211 is horizontally arranged on the buffer portion 522, and a reset slide rail 5218 is arranged above the horizontal plate of the shielding bracket 5211. The reset spring 5214 is sleeved on the sliding rod 5217, a spring cavity is horizontally opened in the steel ball introduction block 5212, a through hole is arranged on the vertical plate of the shielding bracket 5211, the sliding rod 5217 and the reset slide rail 5218 are arranged in parallel, one end of the sliding rod 5217 is fixed in the spring cavity, and the other end is movably installed in the through hole; one end of the reset spring 5214 presses against the vertical plate of the shielding bracket 5211, and the other end presses against the spring cavity. The steel ball introduction block 5212 is horizontally slidably installed on the reset slide rail 5218 based on the slider rail structure.

[0034] When the steel ball introduction block 5212 is pushed by the ejection block 22 in the blanking structure 2 to move toward the vertical plate direction of the shielding bracket 5211, the blanking structure 2 retreats to the default position when it needs to be reset. The two ends of the reset spring 5214 are mortgaged to the vertical plate of the shielding bracket 5211 and the spring cavity inside the steel ball introduction block 5212 to provide the thrust for the steel ball introduction block 5212 to reset.

[0035] A step structure in the shape of a reversed 'Z' is provided at the bottom. The higher part extends out of the reset slide rail 5218 as one end away from the reset spring 5214 and is located at the top of the buffer part 522. The lower vertical part is slidably connected to the reset slide rail 5218 and at the same time serves as a limiting structure to ensure that after the steel ball guiding block 5212 is pushed back by the reset spring 5214, the position of the ball top hole 5216 on the steel ball guiding block 5212 is just above the goal opening at the top of the buffer part 522. This facilitates the top ball rod 51 to enter the steel ball channel inside the buffer part 522 and the ball injection part 523 from top to bottom through the ball top hole 5216, and push the steel ball in the ball path into the lead screw nut N1.

[0036] On the block body of the steel ball guiding block 5212, two groups of through holes penetrating the guiding block from top to bottom are provided: the goal hole 5215 and the ball top hole 5216; the ball top hole 5216 is in the shape of an inverted truncated cone with a wider top and a narrower bottom. Through the ball top hole 5216 with a wider top and a narrower bottom, the top ball rod 51 can be guided into the buffer part 522, preventing the top ball rod 51 from failing to enter the ball path smoothly due to equipment processing errors, and effectively improving the overall installation efficiency.

[0037] Two through holes are provided in each group, and the distance between the two holes in each group is adapted to the two top ball rods 51. The goal hole 5215 is provided on the side of the ball top hole 5216 away from the reset spring 5214.

[0038] The baffle 5213 is fixedly arranged on the top surface of the steel ball guiding block 5212. As Figure 7 shown, in this embodiment, the baffle 5213 is in the shape of a 'U', with a middle avoidance opening. The size of the avoidance opening is adapted to the bottom shape and size of the ejector block 22 in the blanking structure 2, ensuring that after the ejector block 22 contacts the avoidance opening of the baffle 5213, it can stably push the baffle 5213 and then push the moving shielding structure 521 to move horizontally along the reset slide rail 5218 stably. When the steel ball guiding block 5212 is pushed by the ejector block 22 in the blanking structure 2 towards the vertical plate of the shielding bracket 5211 until the goal hole 5215 is aligned with the goal opening at the top of the buffer part 522, the two groups of steel balls in the two channels of the blanking structure 2 can fall into the steel ball channel of the buffer part 522 based on gravity and then enter the ball injection part 523.

[0039] As Fig.10 shown, the lower half of the two steel ball channels 5231 in the inner cavity of the ball injection part 523 is set as an arc channel from top to bottom. The outlet positions of the two arc channels are respectively adapted to the inlet positions of the two steel ball grooves in the inner cavity of the lead screw nut N1 to be installed; the radian of the two arc channels is adapted to the radian of the steel ball grooves in the lead screw nut to be installed, ensuring that the steel balls can smoothly enter the steel ball grooves in the inner cavity of the lead screw nut N1 to be installed from the ball injection part 523.

[0040] As Fig. 9As shown, the ball protection part 524 is sleeved on the bottom of the ball injection part 523, and the sizes of the ball injection part 523 and the ball protection part 524 are adapted to the sizes of the inner cavity of the nut. When installing the steel ball, the ball injection part 523 and the ball protection part 524 are simultaneously inserted into the inner cavity of the nut N1. In the present application, the four steel ball channels in the inner cavity of the nut N1 to be installed are divided into two groups according to the height, the two lowest channels are set as the first group, and the two upper channels are set as the second group. When installing the steel ball, the two lower steel ball channels are installed first. After the first two groups of steel balls are loaded into the two steel ball channels in the inner cavity of the nut N1 to be installed, the steel ball introduction structure 52 and the middle ball sealing structure 53 are lifted, and the ball injection part 523 and the ball protection part 524 rise simultaneously. The ball protection part 524 just blocks the steel balls in the two lower channels to prevent the steel balls from falling.

[0041] like Figure 8~Figure 9 As shown, the middle ball sealing structure 53 includes: a ball sealing driving cylinder 531 and a lateral ball sealing sliding block 532.

[0042] A sliding channel is horizontally opened inside the buffer section 522; the ball-sealing driving cylinder 531 is horizontally arranged on one side of the buffer section 522, one end of the transverse ball-sealing slider 532 is connected to the output end of the ball-sealing driving cylinder 531, and the other end is inserted into the sliding channel; two parallel vertical second steel ball channels 533 are opened in the transverse ball-sealing slider 532, and the position and size of the second steel ball channels 533 are adapted to the ball channels of the buffer section 522; driven by the ball-sealing driving cylinder 531, the transverse ball-sealing slider 532 slides horizontally in the sliding channel, connecting the ball channel 5221 inside the buffer section 522 and the steel ball channel 5231 inside the ball injection section 523, or cutting off the ball channel 5221 inside the buffer section 522.

[0043] In the default position, the output shaft of the ball sealing driving cylinder 531 is in an extended state, and the second steel ball channel 533 connects the channel between the buffer section 522 and the ball injection section 523, so that the steel balls dropped from the material discharging structure 2 will directly enter the steel ball channel 5231 inside the ball injection section 523. After the first two groups of steel balls are loaded, the output shaft of the ball sealing driving cylinder 531 is retracted, driving the horizontal ball sealing slider 532 to move toward the ball sealing driving cylinder 531, and the second steel ball channel 533 inside the horizontal ball sealing slider 532 is misaligned with the ball channel 5221 inside the buffer section 522, thereby closing the bottom of the ball channel 5221. In this state, the steel balls dropped from the material discharging structure 2 for the second time are only temporarily stored in the inner cavity of the buffer section 522. After the material unloading structure 2 is laterally retracted to the default position, the ball loading lifting driving structure 6 lifts the ball injection structure 5 to the second ball loading height, and the two steel ball channels 5231 of the ball part 523 are respectively connected with the two steel ball channels located above in the inner cavities of the two nut N1 above; the ball sealing driving cylinder 531 is started to push the horizontal ball sealing slider 532 to the ball channel connection position, and the two groups of steel balls inside the buffer part 522 will fall into the steel ball channels 5231 inside the ball injection part 523. The second ball loading process is carried out.

[0044] The present application sets a middle ball sealing structure in the ball injection structure to ensure that after the second group of steel balls are discharged, they will not roll down immediately, but will remain in the buffer part of the ball injection structure. Through the cooperation of the middle ball sealing structure and the ball loading lifting and driving structure, it is ensured that there is no need to adjust the height of the discharge structure to ensure that the steel balls of the nut steel ball channels of different heights can be installed, thereby reducing the complexity of the system and improving the efficiency of steel ball installation.

[0045] like Figure 7 and Figure 8 As shown, the ball loading and lifting driving structure 6 includes: a guide rail mounting plate 61, a lifting guide rail 62, a lifting slide plate 63, an upper cylinder 64, a lower cylinder 65 and a lifting push plate 66.

[0046] The lifting rail 62 is mounted on the rail mounting plate 61, and the lifting slide plate 63 is slidably connected to the lifting rail 62; the upper cylinder 64 and the lower cylinder 65 are fixedly mounted on one side of the rail mounting plate 61; the upper cylinder 64 is located above the lower cylinder 65. The lifting push plate 66 is mounted on the lifting slide plate 63, located between the upper cylinder 64 and the lower cylinder 65; the output end of the upper cylinder 64 is connected downward to the lifting push plate 66; the output end of the lower cylinder 65 is upward and located below the lifting push plate 66. The lifting slide plate 63 is provided with a ball injection structure mounting plate 69; the ball injection structure 5 is mounted on the ball injection structure mounting plate 69. It also includes a limit screw 67, which is arranged on the lower end surface of the lifting push plate 66; a limit horizontal plate 68 is arranged on the mounting plate of the lower cylinder 65; and the limit screw 67 is arranged just above the limit horizontal plate 68.

[0047] The output shaft of the upper cylinder 64 is set at two points, one is the default position at the top when the output shaft is retracted, and the other is the first steel ball loading position at the bottom when the output shaft is extended. When the output shaft of the upper cylinder 64 is at the first steel ball loading position, the bottom outlets of the two steel ball channels 5231 inside the ball injection part 523 are just aligned with the two steel ball channel entrances at the bottom of the nut N1.

[0048] The output shaft of the lower cylinder 65 is set with two points, one is the default position at the bottom when the output shaft is retracted, and the other is the second steel ball loading position at the top when the output shaft is extended. The lower cylinder 65 has no connection with the lifting push plate 66. When the output shaft of the lower cylinder 65 is at the retracted position, the lifting push plate 66 is controlled by the output shaft of the upper cylinder 64. When the output shaft of the upper cylinder 64 is at its default position, the output shaft of the lower cylinder 65 and the lifting push plate 66 are completely out of the loading state. When the output shaft of the upper cylinder 64 extends to push the lifting push plate 66 and drive the ball injection structure 5 to descend to the first ball loading position, the limiting screw 67 and the limiting horizontal plate 68 ensure that the lifting push plate 66 is at the lowest position when it descends, and the lifting push plate 66 will not be too low or too high, ensuring that the ball injection part 523 reaches the first ball loading position in the inner cavity of the nut, and also ensuring that the output end of the lower cylinder 65 can push the lifting push plate 66 upward after starting.

[0049] After the first steel ball installation is completed, the lower ball structure 2 injects the second set of steel balls into the inner cavity of the buffer part 522, and the direction of the nut seat is rotated to the second ball loading angle, the lower cylinder 65 is started, and the output shaft pushes the lifting push plate 66 upward. Because the torque of the lower cylinder 65 is greater than the torque of the upper cylinder 64, the lifting push plate 66 and the lifting slide plate 63 can be pushed upward along the lifting guide rail 62, and the output shaft of the upper cylinder 64 is directly pushed back into the cylinder. When the output shaft of the lower cylinder 65 reaches the second steel ball loading position, the bottom outlets of the two steel ball channels 5231 inside the ball injection part 523 are just aligned with the two steel ball channel entrances located above in the nut N1, and the second ball loading process can be carried out.

[0050] Because each cylinder has only two default working positions, the present application sets an upper cylinder 64 and a lower cylinder 65, and generates thrust on the lifting push plate 66 at the same time, so that the ball injection structure 5 can have three working positions: the default position, the first steel ball loading position and the second steel ball loading position. Compared with the prior art method of controlling the working points based on software through methods such as PLC, this method is simpler and has lower system complexity.

[0051] The screw rod clamping structure 4 includes a bottom clamping structure 41 and a middle clamping structure 42 .

[0052] The screw rod clamping structure 4 can be realized based on the screw rod clamping structure in the prior art, and the bottom clamping structure 41 includes: a rotation drive structure and a lifting drive structure, which can realize the screw rod lifting and rotating at the same time. The middle clamping structure 42 can realize the screw rod clamping and support the screw rod to rotate stably.

[0053] In this embodiment, the middle clamping structure is as follows Figure 5 As shown, the middle clamping structure 42 includes: a tightening driving cylinder 421, two clamping rollers 422 and a tightening roller 423; The clamping roller 422 and the tightening roller 423 are rotatably arranged on the same horizontal plane and located at the three vertices of the triangle. The rotation axes of the three rollers are parallel to the screw rod N8 to be installed; the two clamping rollers 422 and the tightening driving cylinder 421 are fixedly installed under the nut clamping structure 3 at the same time, the output shaft of the tightening driving cylinder 421 is horizontally arranged, and the tightening roller 423 is rotatably connected to the output shaft of the tightening driving cylinder 421 through a connecting structure.

[0054] In the default state, the output shaft of the tightening driving cylinder 421 is in the retracted position. When the screw rod N8 to be installed is inserted between the two clamping rollers 422 and a tightening roller 423, the output shaft of the tightening driving cylinder 421 drives the tightening roller 423 to be pushed out until the screw rod N8 to be installed is tightened. At this time, the three rollers are located at the three vertices of an equilateral triangle, providing uniform clamping force for the screw rod N8 to be installed to ensure accurate installation. The three rollers have a supporting effect on the screw rod N8 to be installed, and when the screw rod N8 to be installed rotates, the three rollers can also rotate with the screw rod N8 to be installed, realizing the rotation and clamping of the screw rod N8 to be installed.

[0055] like Figure 6 As shown, the bottom clamping structure 41 includes: a clamping claw 411, a bottom rotating seat 412, a rotating seat mounting plate 413, a bottom rotating driving motor 414, a screw lifting slide rail 415, a screw lifting slide plate 416 and a screw lifting driving cylinder 417; The screw lifting slide rail 415 is installed on the main bracket 1 through the lifting slide rail connecting plate 418, and the screw lifting slide plate 416 is slidably installed on the screw lifting slide rail 415; the screw lifting driving cylinder 417 is fixed on the lifting slide rail connecting plate 418, and the output end is upwardly provided with a screw lifting slide plate 416 connected to the screw lifting slide, and the screw lifting driving cylinder 417 drives the screw lifting slide plate 416 to realize the lifting movement along the screw lifting slide rail 415; the rotating seat mounting plate 413 is connected to the lifting slide rail connecting plate 418; the bottom rotation drive motor 414 is arranged on the screw lifting slide plate 416 through the rotating seat mounting plate 413; the bottom rotating seat 412 is rotatably mounted on the rotating seat mounting plate 413 based on the bottom rotating shaft 419, and the clamping claw 411 realized by the cylinder clamp is arranged on the top of the bottom rotating seat 412, and is located directly below the middle clamping structure 42; the bottom rotation drive motor 414 drives the bottom rotating seat 412 to rotate based on the bottom rotating shaft 419.

[0056] In the bottom clamping structure 41, three clamping claws 411 are installed on the bottom rotating seat 412, and the bottom rotating seat 412 is installed on the slide plate 416 for screw rod lifting. When the bottom of the screw rod N8 to be installed is loaded, the bottom is placed in the three clamping claws 411, and the three clamping claws 411 clamp the bottom of the screw rod. After the steel ball injection in the nut is completed, the screw rod lifting drive cylinder 417 first drives the slide plate 416 for screw rod lifting to rise along the screw rod lifting slide rail 415. When the top of the screw rod N8 to be installed is inserted into the screw nut to be installed, the bottom rotation drive motor 414 is started, and the bottom shaft 419 and the bottom rotating seat 412 are driven to rotate through structures such as belts and chains, thereby driving the screw rod N8 to be installed to rotate and install it into the inner cavity of the nut. The final assembly process of the long screw and the nut is completed.

[0057] When the technical solution of the present invention is used to install the steel ball, at the loading station, the bottom end face of the screw rod N8 to be installed is inserted into the three clamping claws 411 and is gripped by the three clamping claws 411, the upper part of the screw rod N8 is placed into the two clamping rollers 422 and a tightening roller 423, the tightening drive cylinder 421 is started, and the middle part of the screw rod N8 is tightened by the tightening roller 423; the nut N1 to be installed is installed in the nut seat 31, and the nut pressing structure presses the upper end face of the nut N1; after the loading is completed, the screw rod and the nut are translated together with the nut clamping structure 3 and the screw rod clamping structure 4 to the ball loading station below the ball injection structure 5. In the unassembled state, the nut N1 to be installed and the screw rod N8 to be installed are clamped separately from top to bottom.

[0058] Four groups of steel balls have been stored in the unloading structure 2. When the nut N1 to be installed and the screw rod N8 to be installed are moved to the ball loading position, the upper cylinder 64 starts to push the ball injection structure 5 downward from the default position to the first steel ball loading position; the horizontal drive structure 25 starts to drive the unloading structure 2 toward the ball injection structure 5 in the horizontal direction, and the ejection block 22 pushes the baffle 5213 and then pushes the steel ball introduction block 5212 horizontally. After the goal hole 5215 is aligned with the goal hole at the top of the buffer 522, the unloading structure 2 realizes the first unloading of two groups of steel balls; after unloading is completed , the horizontal driving structure 25 starts in reverse, driving the unloading structure 2 to return to the default position; the steel ball introduction block 5212 returns to the default position under the action of the reset spring 5214, and the top ball hole 5216 is aligned with the goal hole at the top of the buffer part 522; the two ball pushing rods 51 move downward, from top to bottom, from the top ball hole 5216 to the internal steel ball channels of the buffer part 522 and the ball injection part 523, until the steel balls inside the ball injection part 523 are pushed into the two steel ball grooves below the nut N1 to be installed.

[0059] After the first ball pushing is completed, the two ball pushing rods 51 move upward and return to the default position; the ball sealing driving cylinder 531 is started to close the bottom of the ballway 5221; the rotating cylinder 82 in the nut rotation driving structure 8 is started to drive the nut seat 31 and the nut N1 installed in the nut seat 31 to rotate to the second ball loading position; the horizontal driving structure 25 of the feeding structure is started to drive the feeding structure 2 to move horizontally toward the ball injection structure 5 to inject the second group of steel balls into the buffer section 522. At this time, because the bottom outlet of the buffer section 522 is chalked, the steel balls are temporarily stored in the buffer. The storage part; the lower cylinder 65 is started to lift the ball injection structure 5 to the second steel ball loading position, and the bottom outlets of the two steel ball channels 5231 inside the ball injection part 523 are aligned with the two steel ball channel entrances located above in the nut N1; the ball sealing driving cylinder 531 is started in the reverse direction, pushing the horizontal ball sealing slider 532 to connect the ball channel 5221 inside the buffer part 522 and the steel ball channel 5231 inside the ball injection part 523, and the two groups of steel balls in the buffer part fall into the ball injection part 523; the two ball pushing rods 51 move downward for the second time until the steel balls are pushed into the nut N1.

[0060] After the second ball pushing, the ball pusher 51 returns to the default position, and the rotating cylinder 82 in the screw nut rotation drive structure 8 is started in the reverse direction and returns to the default position; the screw rod lifting drive cylinder 417 and the bottom rotation drive motor 414 are started at the same time, and the screw rod lifting drive cylinder 417 drives the bottom rotating seat 412 to carry the screw rod N8 up, and enters the inner cavity of the screw nut N1 from bottom to top, and the bottom rotation drive motor 414 drives the screw rod N8 to rotate, so as to realize the assembly of the screw nut N1 to be installed and the screw rod N8 to be installed; During the process of 8 entering the nut N1, the ball injection part 523 and the ball protection part 524 still located at the second steel ball installation position are gradually pushed out of the inner cavity of the nut from bottom to top by the screw rod N8, ensuring that the installed steel ball will not fall from the steel ball channel due to the sudden withdrawal of the ball injection part 523 and the ball protection part 524; when the ball injection part 523 and the ball protection part 524 are completely pushed out of the inner cavity of the nut N1, the upper cylinder 64 is started to drive the ball injection structure 5 back to the uppermost default position; the assembly process of the steering gear ball screw pair is completed.

[0061] When the assembly process of the steering gear ball screw pair is implemented, the PLC technology in the prior art can be combined with the sensor technology in the prior art to achieve full process automation control, which greatly improves the efficiency of the steel ball installation process of the steering gear ball screw pair.

Claims

1. A ball loading device for a steering gear ball screw pair, comprising: The material unloading structure, ball injection structure, clamping structure and ball loading lifting and driving structure installed on the main bracket are characterized by: The material unloading structure and the ball injection structure are arranged above the clamping structure; the ball injection structure realizes lifting and lowering motion based on the ball loading lifting and lowering driving structure; the clamping structure comprises: a nut clamping structure and a screw rod clamping structure arranged from top to bottom; the nut to be installed is arranged in the nut clamping structure, and the screw rod to be installed is arranged in the screw rod clamping structure; The nut clamping structure comprises: a nut seat, a base and a nut pressing structure; The inner cavity of the nut seat is adapted to the shape of the nut to be installed, and the nut seat is installed above the base; a screw rod channel is provided in the center of the base and the nut seat, and the size of the screw rod channel is adapted to the screw rod to be installed; The nut pressing structure comprises: a semi-ring pressing plate, a pressing cylinder and a pressing installation horizontal plate; the pressing installation horizontal plate is arranged on the base, the output end of the pressing cylinder is upwardly mounted on the pressing installation horizontal plate, and the semi-ring pressing plate is horizontally arranged on the output end of the pressing cylinder; the shape of the semi-ring pressing plate is adapted to the upper end surface of the nut to be installed, and the size of the annular cavity in the center of the semi-ring pressing plate is adapted to the central cavity of the nut to be installed; The nut rotation driving structure comprises: a nut seat support plate, a rotation cylinder and a rack; A base mounting groove is arranged on the nut support plate, the base is movably mounted in the base mounting groove, and an annular external gear is arranged on the outer periphery of the base; the rack and the rotating cylinder are arranged on the nut support plate; the rack is arranged horizontally and is meshed with the annular external gear on the base; the output shaft of the rotating cylinder is arranged horizontally, and the output shaft is connected to the rack.

2. According to claim 1, a ball loading device for a steering gear ball screw pair is characterized in that: The material unloading structure comprises: a steel ball unloading plate, an ejection block, a first ball sealing plate, a second ball sealing plate, a first ball releasing cylinder and a second ball releasing cylinder; Two parallel ball storage channels are vertically arranged in the steel ball unloading plate, and the diameter of the ball storage channels is adapted to the diameter of the steel balls; the middle position and the bottom outlet of the storage and access channels are respectively provided with through grooves for inserting the first ball sealing plate and the second ball sealing plate; the first ball sealing plate and the second ball sealing plate are horizontally arranged and respectively connected to the output ends of the first ball releasing cylinder and the second ball releasing cylinder; The ejector block is arranged at the bottom end of the steel ball unloading plate, and the first ball sealing plate and the second ball sealing plate are arranged on a side of the steel ball unloading plate away from the ball injection structure; The material unloading structure is driven by a horizontal driving structure and moves horizontally above the clamping structure.

3. According to claim 1, a ball loading device for a steering gear ball screw pair is characterized in that: The ball injection structure comprises: a ball ejector rod and a steel ball introduction structure; The two ball-pushing rods are arranged above the steel ball introduction structure; the ball-pushing rod comprises a straight rod portion and a spring portion, the top end of the straight rod portion is connected to the ball-pushing lifting structure, and the bottom end is connected to the spring portion; the fixed ball rod realizes lifting movement in the up-and-down direction based on the fixed ball rod lifting driving structure; The steel ball introduction structure is arranged above the clamping structure; the steel ball introduction structure comprises: a movable shielding structure, a buffering part, a ball injection part and a ball protection part arranged in sequence from top to bottom; Two ball paths for steel balls are respectively arranged inside the buffer section and the ball injection section, the bottom of the buffer section is connected to the ball injection section, and the ball paths of the buffer section and the ball injection section are interconnected.

4. According to claim 3, a ball loading device for a steering gear ball screw pair is characterized in that: The movable shielding structure comprises: a shielding bracket, a steel ball introduction block, a baffle and a return spring; The shielding bracket is L-shaped, the horizontal plate of the shielding bracket is horizontally arranged on the buffer portion, and a reset slide rail is arranged above the horizontal plate of the shielding bracket; The reset spring is sleeved on the sliding rod, a spring cavity is horizontally provided in the steel ball introduction block, a through hole is provided on the vertical plate of the shielding bracket, the sliding rod is arranged in parallel with the reset slide rail, one end of the sliding rod is fixed in the spring cavity, and the other end is movably installed in the through hole; one end of the reset spring presses against the vertical plate of the shielding bracket, and the other end presses against the spring cavity; The steel ball introduction block is horizontally slidably installed on the reset slide rail based on the connection structure; one end of the steel ball introduction block away from the reset spring extends out of the reset slide rail and is located at the top of the cache part; The block body of the steel ball introduction block is provided with two groups of through holes penetrating the introduction block from top to bottom: a ball hole and a ball-pushing hole; the ball-pushing hole is in the shape of an inverted frustum of a cone that is wide at the top and narrow at the bottom; two through holes are provided in each group, and the distance between the two holes in each group of through holes is adapted to the two ball-pushing rods; The ball hole is arranged on a side of the top ball hole away from the return spring; The baffle is fixedly arranged on the top surface of the steel ball introduction block; The lower half of the two steel ball channels in the inner cavity of the ball injection part is configured as an arc channel from top to bottom, and the outlet positions of the two arc channels are respectively adapted to the inlet positions of the two steel ball channels in the inner cavity of the nut to be installed; the curvature of the two arc channels is adapted to the curvature of the steel ball channels in the nut to be installed; The ball protection part is connected to the bottom of the ball injection part, and the sizes of the ball injection part and the ball protection part are adapted to the size of the inner cavity of the nut.

5. According to claim 3, a ball loading device for a steering gear ball screw pair is characterized in that: The ball injection structure also includes a middle ball sealing structure, which includes: a ball sealing driving cylinder and a lateral ball sealing slider; A sliding channel is horizontally opened inside the cache section; the ball-sealing driving cylinder is horizontally arranged on one side of the cache section, one end of the transverse ball-sealing sliding block is connected to the output end of the ball-sealing driving cylinder, and the other end is inserted into the sliding channel; two parallel vertical steel ball channels are opened in the transverse ball-sealing sliding block, and the positions and sizes of the steel ball channels are adapted to the ball channels of the cache section.

6. The ball loading device for a steering gear ball screw pair according to claim 1, characterized in that: The ball loading lifting and driving structure comprises: a guide rail mounting plate, a guide rail, a lifting and lowering slide plate, an upper cylinder, a lower cylinder and a lifting and lowering push plate; The lifting guide rail is mounted on the guide rail mounting plate, and the lifting slide plate is slidably connected to the lifting guide rail; The upper cylinder and the lower cylinder are both fixedly mounted on the guide rail mounting plate; the upper cylinder is located above the lower cylinder; The lifting push plate is installed on the lifting slide plate and is located between the upper cylinder and the lower cylinder; the output end of the upper cylinder is connected downward to the lifting push plate; the output end of the lower cylinder is upward and is located below the lifting push plate; A ball injection structure mounting plate is arranged on the lifting slide plate; and the ball injection structure is mounted on the ball injection structure mounting plate.

7. A ball loading device for a ball screw pair of a steering gear according to claim 6, characterized in that: It also includes a limiting screw, which is arranged on the lower end surface of the lifting push plate; a limiting horizontal plate is arranged on the mounting plate of the lower cylinder; and the limiting screw is arranged just above the limiting horizontal plate.

8. The ball loading device for a ball screw pair of a steering gear according to claim 1, characterized in that: The screw rod clamping structure comprises: a bottom clamping structure and a middle clamping structure; The middle clamping structure comprises: a tightening drive cylinder, two clamping rollers and a tightening roller; The clamping roller and the tightening roller are rotatably arranged on the same horizontal plane and located at the three vertices of a triangle, and the rotation axes of the three rollers are parallel to the screw rod to be installed; the two clamping rollers and the tightening drive cylinder are fixedly installed under the nut clamping structure at the same time, the output shaft of the tightening drive cylinder is horizontally arranged, and the tightening roller is connected to the output shaft of the tightening drive cylinder; The bottom clamping structure comprises: a clamping air claw, a bottom rotating seat, a bottom rotating driving motor, a guide rail for screw lifting, a slide plate for screw lifting and a cylinder for screw lifting driving; The screw rod lifting rail is fixed on the lifting rail connecting plate, and the screw rod lifting slide plate is slidably mounted on the screw rod lifting rail; the screw rod lifting driving cylinder is fixed on the lifting rail connecting plate, and the output end is upwardly arranged to connect the screw rod lifting slide plate; A rotating seat mounting plate is arranged on the slide plate for screw rod lifting, and the bottom rotating drive motor is arranged on the slide plate for screw rod lifting; the bottom rotating seat is rotatably mounted on the rotating seat mounting plate based on the bottom rotating shaft, and the clamping air claw is arranged on the top of the bottom rotating seat, directly below the middle clamping structure; the bottom rotating drive motor drives the bottom rotating seat to rotate based on the bottom rotating shaft.

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