A device for assembling balls in a ball screw pair of a steering gear

Abstract

The application provides a ball mounting device for a ball screw pair of a steering gear, which adjusts the angle of a nut seat in the process of mounting a steel ball through a nut rotation driving structure, and then ensures the injection of the steel ball channel with different angle entrances. The ball injection structure realizes the lifting movement based on a ball mounting lifting driving structure, and ensures the injection of the steel ball channel with different heights. The automatic ball feeding is realized through the cooperation of the ball feeding structure and the ball injection structure, and the installation efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of ball screw assembly manufacturing equipment, specifically a ball loading device for a steering gear ball screw assembly. Background Technology

[0002] The lead screw and nut unit is a highly efficient actuator that converts rotary motion into linear motion. For example... Figure 1 The diagram shows a ball screw assembly N used in a steering gear. N1 is the nut, N2 is the bearing outer ring, N3 is the cage, N4 is the sealing cap, and N5 is the steering gear. Four arc-shaped ball grooves N6 are formed inside the nut N1, and each groove N6 holds a set of 18 balls N7. The four grooves N6 are parallel and isolated from each other, and the balls N7 in each groove circulate within the groove during movement. When assembling the ball screw assembly, the nut N1, bearing outer ring N2, cage N3, sealing cap N4, and steering gear N5 are assembled first. Then, the balls N7 are injected into the grooves N6. After injection, the matching long screw needs to be immediately installed into the nut N1.

[0003] Because the four channels are located at different heights and the channel entrances are at different angles, and the channels are gentle arc-shaped, it is impossible to directly inject the ball based on gravity. In the existing technology, the process of injecting steel ball N7 is a semi-manual operation, which relies on tools and manual labor to inject steel ball N7 into channel N6, resulting in low overall efficiency. Summary of the Invention

[0004] To address the problem of low overall efficiency in existing technologies that rely on tools and manual labor to inject steel balls into the ball grooves of the nut in a steering gear ball screw assembly, this invention provides a ball loading device for a steering gear ball screw assembly, which can efficiently and quickly install steel balls into the ball grooves at different positions within the nut cavity.

[0005] The technical solution of this invention is as follows: a ball loading device for a steering gear ball screw assembly, comprising: a feeding structure, a ball injection structure, a clamping structure, and a ball loading lifting drive structure mounted on a main support; characterized in that: The feeding structure and the ball injection structure are arranged above the clamping structure; the ball injection structure realizes the lifting movement based on the ball loading lifting drive structure; the clamping structure includes: a nut clamping structure and a screw clamping structure arranged from top to bottom; the nut to be installed is arranged in the nut clamping structure, and the screw to be installed is arranged in the screw clamping structure; The nut clamping structure includes: 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 lead screw channel is opened at the center of the base and the nut seat, and the size of the lead screw channel is adapted to the lead screw to be installed; The nut clamping structure includes: a semi-annular clamping plate, a clamping cylinder, and a clamping mounting plate; the clamping mounting plate is disposed on the base, the output end of the clamping cylinder is mounted upward on the clamping mounting plate, and the semi-annular clamping plate is horizontally disposed at the output end of the clamping cylinder; the shape of the semi-annular clamping plate is adapted to the upper end face of the nut to be installed, and the size of the annular cavity at the center of the semi-annular clamping plate is adapted to the central cavity of the nut to be installed; The nut rotation drive structure includes: a nut support plate, a rotation cylinder, and a rack; The nut support plate is provided with a base mounting groove, and the base is movably installed in the base mounting groove. An annular external gear is provided on the outer periphery of the base. The rack and the rotating cylinder are provided on the nut support plate. The rack is arranged horizontally and meshes with the annular external gear on the base. The output shaft of the rotating cylinder is arranged horizontally and is connected to the rack.

[0006] Its further features are: The feeding structure includes: a steel ball feeding plate, an ejector block, a first ball sealing plate, a second ball sealing plate, a first ball releasing cylinder, and a second ball releasing cylinder; The steel ball feeding plate has two parallel ball storage channels arranged vertically, and the diameter of the ball storage channels is adapted to the diameter of the steel ball; the middle position and the bottom outlet of the storage and retrieval channels are respectively provided with through slots 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 arranged horizontally and are respectively connected to the output ends of the first ball releasing cylinder and the second ball releasing cylinder; The ejector block is located at the bottom end of the steel ball feeding plate, and the first sealing plate and the second sealing plate are located on the side of the steel ball feeding plate away from the ball injection structure. The feeding structure is driven by a horizontal drive structure and moves horizontally above the clamping structure. The ball injection structure includes: a top ball rod and a steel ball guide structure; Two ball-raising cues are positioned above the ball-guiding structure; each ball-raising cue includes a straight rod and a spring, the top end of the straight rod is connected to a ball-raising lifting structure, and the bottom end is connected to the spring; the fixed ball-raising cue achieves vertical movement based on the fixed ball-raising lifting drive structure. The steel ball guiding structure is disposed above the clamping structure; the steel ball guiding structure includes, from top to bottom, a movable shielding structure, a buffer section, a ball injection section and a ball protection section; The buffer section and the ball injection section are each provided with two ball tracks for steel balls. The bottom of the buffer section is connected to the ball injection section, and the ball tracks of the buffer section and the ball injection section are interconnected. The movable shielding structure includes: a shielding bracket, a steel ball guide block, a baffle, and a return spring; The shielding bracket is L-shaped, with its horizontal plate horizontally mounted on the buffer section, and a reset slide rail mounted above the horizontal plate of the shielding bracket. The reset spring is mounted on the sliding rod, the steel ball guide block has a horizontally formed spring cavity, the vertical plate of the shielding bracket has a through hole, the sliding rod and the reset slide rail are arranged in parallel, 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 abuts against the vertical plate of the shielding bracket, and the other end abuts against the spring cavity; The steel ball guide block is horizontally slidably mounted on the reset slide rail based on the connection structure; one end of the steel ball guide block away from the reset spring extends out of the reset slide rail and is located at the top of the buffer section; The steel ball guide block has two sets of through holes running from top to bottom: a ball inlet hole and a ball outlet hole. The ball outlet hole is an inverted frustum shape that is wider at the top and narrower at the bottom. There are two through holes in each set, and the distance between the two holes in each set is adapted to the two ball outlet rods. The ball-in hole is located on the side of the top ball hole away from the return spring; The baffle is fixedly mounted on the top surface of the steel ball guide block; The lower half of the two steel ball channels in the inner cavity of the ball injection section is set as an arc-shaped channel from top to bottom. The outlet positions of the two arc-shaped channels are respectively adapted to the inlet positions of the two steel ball grooves in the inner cavity of the nut to be installed; the curvature of the two arc-shaped channels is adapted to the curvature of the steel ball grooves in the nut to be installed. The ball-protecting part is connected to the bottom of the ball-injecting part, and the dimensions of the ball-injecting part and the ball-protecting part are adapted to the inner cavity dimensions of the nut. The ball injection structure also includes a central ball sealing structure, which includes a ball sealing drive cylinder and a transverse ball sealing slider. The buffer section has a horizontal sliding channel inside; the ball-sealing drive cylinder is horizontally positioned on one side of the buffer section; one end of the horizontal ball-sealing slider is connected to the output end of the ball-sealing drive cylinder, and the other end is inserted into the sliding channel; two parallel vertical steel ball channels are formed in the horizontal ball-sealing slider, and the position and size of the steel ball channels are adapted to the ball track of the buffer section; The ball loading lifting drive structure includes: a guide rail mounting plate, a guide rail, a lifting slide plate, an upper cylinder, a lower cylinder, and a lifting 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; Both the upper cylinder and the lower cylinder are fixedly mounted on the guide rail mounting plate; the upper cylinder is located above the lower cylinder; The lifting push plate is mounted 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 located below the lifting push plate. A ball-injection structure mounting plate is provided on the lifting slide plate; the ball-injection structure is mounted on the ball-injection structure mounting plate. It also includes a limiting screw, which is disposed on the lower end face of the lifting push plate; a limiting horizontal plate is disposed on the mounting plate of the lower cylinder; the limiting screw is disposed directly above the limiting horizontal plate; The lead screw clamping structure includes: a bottom clamping structure and a middle clamping structure; The central clamping structure includes: a clamping drive cylinder, two clamping rollers and a clamping roller; The clamping roller and the top-clamping roller are rotatably mounted on the same horizontal plane, located at the three vertices of a triangle, and the rotation axes of the three rollers are parallel to the lead screw to be installed; the two clamping rollers and the top-clamping drive cylinder are simultaneously fixedly mounted below the lead screw clamping structure, the output shaft of the top-clamping drive cylinder is horizontally set, and the top-clamping roller is connected to the output shaft of the top-clamping drive cylinder; The bottom clamping structure includes: a clamping gripper, a bottom rotating seat, a bottom rotating drive motor, a slide rail for screw lifting, a sliding plate for screw lifting, and a cylinder for screw lifting drive. The lead screw lifting slide rail is fixed to the lifting slide rail connecting plate, and the lead screw lifting slide plate is slidably installed on the lead screw lifting slide rail; the lead screw lifting drive cylinder is fixed to the lifting slide rail connecting plate, and its output end is connected to the lead screw lifting slide plate upward; A rotating seat mounting plate is provided on the lead screw lifting slide plate, and the bottom rotation drive motor is provided on the lead screw lifting slide plate; the bottom rotating seat is rotatably mounted on the rotating seat mounting plate based on the bottom rotating shaft, and the clamping gripper is located on the top of the bottom rotating seat, directly below the middle clamping structure; the bottom rotation drive motor drives the bottom rotating seat to rotate based on the bottom rotating shaft.

[0007] This application provides a ball-loading device for a steering gear ball screw assembly. During ball installation, a rotating drive structure adjusts the angle of the nut seat, ensuring injection into the ball grooves at different angles. The ball-injection structure, based on a lifting drive structure, ensures injection into the ball grooves at different heights. The automatic ball feeding is achieved through the combined use of the feeding and injection structures, effectively improving installation efficiency. This application incorporates two downward-facing arc-shaped channels within the ball-injection section of the ball-injection structure to ensure the ball smoothly enters the ball grooves in the nut. By using a spring structure in the lower half of the top ball rod, the device ensures that after the fixed ball rod penetrates the ball-injection section, it smoothly pushes the ball from the arc-shaped channels into the ball grooves in the nut. In this technical solution, after the first steel ball injection is completed, the second set of steel balls is placed into the ball injection structure through the feeding structure. After the ball loading lifting drive structure lifts the nut seat, the two sets of steel balls are simultaneously pushed into the nut steel ball channel by the ball-topping rod. This application ensures that the second set of steel balls will not roll down immediately after being fed into the ball injection structure, but will remain in the buffer section of the ball injection structure. Through the cooperation of the central ball sealing structure and the ball loading lifting drive structure, it is ensured that steel balls of different heights of nut steel ball channels can be installed without adjusting the height of the feeding structure, thereby reducing system complexity and improving steel ball installation efficiency. Attached Figure Description

[0008] Figure 1 This is a cross-sectional structural diagram of the nut of the ball screw pair in the steering gear in the prior art; Figure 2 This is a schematic diagram of the overall structure of the ball screw assembly for the steering gear in this application. Figure 3 This is a schematic diagram of the material feeding structure; Figure 4 This is a schematic diagram of the steel ball feeding plate. Figure 5 This is a schematic diagram of the wire clamping structure; Figure 6 This is a schematic diagram of the lead screw clamping structure; Figure 7 This is a three-dimensional schematic diagram of the injection ball structure; Figure 8 A schematic diagram of the main view of the ball injection structure; Figure 9 A schematic diagram of the cross-section of the injection structure; Figure 10 This is a schematic diagram of the ball channel structure for the ball injection section. Detailed Implementation

[0009] like Figures 2-10As shown, the present invention includes a ball screw assembly device for a steering gear, comprising: a feeding structure 2, a clamping structure, a ball injection structure 5, and a ball loading lifting drive structure 6 mounted on a main support 1.

[0010] The feeding structure 2 and the ball injection structure 5 are located above the clamping structure; the ball storage structure 7 stores steel balls of various specifications, and the ball storage structure 7 and the feeding structure 2 are connected by a steel ball pipeline made of a flexible hose, which supplies material to the feeding structure 2 in real time.

[0011] The clamping structure includes a nut clamping structure 3 and a screw clamping structure 4 arranged from top to bottom; the nut N1 to be installed is set in the nut clamping structure 3, and the screw N8 to be installed is set in the screw 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. A screw channel is formed in the center of the base 32 and the nut seat 31, and the size of the screw channel is adapted to the screw 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 into the nut seat from top to bottom by the nut pressing structure to ensure that the nut N1 to be installed will not move during the installation process.

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

[0014] In the default state, the output end of the clamping cylinder 34 is in the extended state. After the nut N1 to be installed is placed in the nut seat 31, the output end of the clamping cylinder 34 retracts, pulling the semi-ring pressure plate 33 downward and pressing the semi-ring pressure plate 33 onto the upper surface of the nut N1 to be installed.

[0015] The clamping cylinder 34 is mounted on the base 32 via the clamping mounting plate 35, ensuring that when the base 32 is driven to change angle by the nut rotation drive structure 8, the nut clamping structure can also change angle along with it, without having to disengage from the nut N1 when the nut seat rotates, effectively reducing operation steps and improving overall work efficiency.

[0016] To achieve ball loading at different angles, this application also includes a nut rotation drive structure 8. For example... Figure 5 As shown, the nut rotation drive 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, and the base 32 is movably installed in the base mounting groove 361. An annular external gear (not marked in the figure) is provided on the outer periphery of the base 32. A rack 83 and a rotating cylinder 82 are provided on the nut support plate 36. The rack 83 is arranged laterally and meshes with the annular external gear on the base 32. The output shaft of the rotating cylinder 82 is arranged horizontally and connected to the rack 83. The rack 83 is arranged above the nut support plate 36 based on a slider rail structure to reduce the frictional resistance when the rack moves laterally.

[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. After the first set of steel balls in the nut N1 to be installed is installed, the angle needs to be changed. When installing the second set of steel balls, the rotating cylinder 82 is started, and the rack 83 is pulled horizontally. The rack 83 moves horizontally, driving the base 32 that is threaded with it to rotate. The output shaft of the rotating cylinder 82 moves to the preset position and stops, and the nut N1 to be installed is rotated to the installation angle of the second set of steel balls.

[0019] The nut rotation drive structure 8 also includes an angle confirmation sensor 81, which is located on the side of the base 32 and positioned above the nut seat 31. The sensor confirms the current angle of the nut N1 to be installed based on the position of the steering gear N5 on the nut N1. An alarm is triggered if an incorrect angle is detected, ensuring the accurate installation position of the steel ball.

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

[0021] like Figure 3 As shown, the feeding structure 2 includes: a steel ball feeding plate 21, an ejector 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 feeding plate 21, and the diameter of the ball storage channels 211 is adapted to the diameter of the steel ball. Insertion slots 212 for the first sealing plate (not marked in the figure) and the second sealing plate (not marked in the figure) are respectively provided at the middle position and the bottom outlet of the storage channels. The shape of the insertion slots 212 is adapted to the shape of the two sealing plates. The first and second sealing plates are horizontally arranged and are respectively connected to the output ends of the first ball release cylinder 23 and the second ball release cylinder 24. The ejector block 22 is located at the bottom end of the steel ball feeding plate 21, and the two are integrally formed during processing. The first and second sealing plates are located on the side of the steel ball feeding plate 21 away from the ball injection structure. Based on the insertion or ejection slots 212 of the first and second ball release cylinders 23 and 24, the ball storage channels 211 are closed or opened.

[0023] This application ensures that the feeding structure 2 can carry four sets of steel balls required for one nut each time it feeds through the number and length of the ball storage channels 211 set in the steel ball feeding plate 21, as well as the coordinated action of the two ball sealing plates, without having to feed 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 buffered during the first steel ball installation, ensuring that the ball injection structure 5 can be provided with material for two sets of steel balls each time, effectively improving the overall ball loading efficiency.

[0024] The feeding structure 2 is driven by the horizontal drive structure 25 and moves horizontally above the clamping structure 5. The distance between the ejector 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 ball inlet hole 5215 on the steel ball guide block 5212. The baffle is located on the horizontal stroke of the ejector block. When the ejector block 22 contacts the baffle 5213 and pushes the steel ball guide block 5212 horizontally, the outlet of the ball storage channel 211 of the steel ball feeding plate 21 and the ball inlet hole 5215 are vertically connected, ensuring that after the ejector block ejects the baffle 5213, the steel balls in the ball storage channel 211 can slide down into the steel ball guide block 5212 by gravity. In specific implementation, the steel ball feeding plate 21 can be made of transparent material, and then the presence and quantity of steel balls in the steel ball feeding plate 21 can be detected by sensors.

[0025] The ball storage structure 7 injects steel balls into the ball storage channels 211 via steel ball pipe connections. The length of each ball storage channel 211 is exactly the diameter of two sets of steel balls. During ball feeding, the output end of the first ball-releasing cylinder 23 in the middle position is retracted, while the output end of the second ball-releasing cylinder 24 at the bottom is extended. This inserts the second ball-sealing plate into the insertion slot 212 at the bottom, simultaneously sealing the bottom outlets of both ball storage channels 211. This ensures that all four sets of steel balls can be completely fed into the two ball storage channels 211. After ball feeding is complete, the output end of the first ball-releasing cylinder 23 in the middle extends, inserting the first ball-sealing plate into the middle insertion slot 212, dividing the steel balls in each ball storage channel 211 into two groups.

[0026] During the first steel ball installation, the horizontal drive structure 25 drives the feeding structure 2 to move above the ball injection structure 5. The ejector block 22 pushes the baffle 5213 to laterally push the moving blocking structure 521, aligning the ball inlet 5215 with the bottom outlet of the ball storage channel 211 and the ball track inlet of the buffer section 522. The second ball release cylinder 24 at the bottom retracts, opening the ball outlets at the bottom of the two ball storage channels 211, and simultaneously feeding two sets of steel balls into the ball injection structure 5. After feeding, the second ball release cylinder 24 at the bottom extends again to close the bottom of the ball storage channel 211. The horizontal drive structure 25 then drives the feeding structure 2 back to its 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 retracts, placing the two sets of steel balls buffered at the top into the bottom position of the ball storage channel 211. After the first steel ball injection process of the ball injection structure 5 is completed, the horizontal drive structure 25 drives the feeding structure 2 to move laterally above the ball injection structure 5 to inject two more sets of steel balls into the ball injection structure 5. Then the feeding structure 2 returns to the default position to perform its own steel ball injection program, completing the preparation for the next installation. Through the cooperation of the ball storage channel 211 and the two sealing plates, the steel ball feeding is set twice for each nut without any additional waiting time in between, effectively improving the overall work efficiency.

[0028] like Figures 8-9 As shown, the ball-pouring structure 5 includes: a top ball rod 51, a steel ball guide structure 52, and a middle ball-sealing structure 53.

[0029] Two ball-lifting rods 51 are positioned above the steel ball guiding structure 52; the ball-lifting rods 51 achieve vertical lifting and lowering movement under the drive of a ball-lifting drive structure (not marked in the figure) based on cylinders and other components. The two fixed ball-lifting rods 51 are located directly above the two steel ball channels of the buffer section 522.

[0030] The top cue 51 includes a straight shaft and a spring shaft. The top end of the straight shaft is connected to the cue lifting mechanism, and the bottom end is connected to the spring shaft. In this application, the ball channels in the movable blocking structure 521 and the buffer section 522 are vertical channels, while the ball channel in the ball injection section 523 is... Figure 10 As shown, the upper part of the steel ball channel is a vertical channel, and the lower part is a gently curved steel ball groove that allows the steel balls to smoothly enter the inner cavity of the nut. Therefore, a downward curved channel is provided to provide a certain slope for entering the steel ball groove inside the nut. However, because the steel ball groove inside the nut is very gentle, the weight of the steel balls and the curved channel alone are not enough to allow all 18 steel balls in a group to enter the nut. Therefore, in this application, a spring component is provided below the fixed ball rod 51. The length of the spring component is greater than the length of the curved channel in the ball injection part 523 to ensure that all the steel balls in a group can be pushed into the nut.

[0031] The steel ball guide structure 52 is located directly above the wire nut seat 31 in the clamping structure. The steel ball guide structure 52 includes: a movable shielding structure 521, a buffer section 522, a ball injection section 523, and a ball protection section 524 arranged from top to bottom; the buffer section 522 and the ball injection section 523 are each provided with two ball tracks, the bottom of the buffer section 522 is connected to the ball injection section 523, and the ball tracks of the buffer section 522 and the ball injection section 523 are interconnected.

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

[0033] The shielding bracket 5211 is L-shaped, with its horizontal plate horizontally mounted on the buffer section 522. A reset slide rail 5218 is positioned above the horizontal plate of the shielding bracket 5211. A reset spring 5214 is fitted onto a sliding rod 5217. A spring cavity is horizontally formed in the steel ball guide block 5212. A through hole is provided on the vertical plate of the shielding bracket 5211. The sliding rod 5217 and the reset slide rail 5218 are arranged parallel to each other. 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 guide block 5212 is horizontally slidably mounted on the reset slide rail 5218 based on a slider slide rail structure.

[0034] When the steel ball guide block 5212 is pushed by the ejector block 22 in the feeding structure 2 towards the vertical plate of the shielding bracket 5211, the feeding structure 2 retracts to the default position when reset is required. The two ends of the reset spring 5214 are pressed against the vertical plate of the shielding bracket 5211 and the spring cavity inside the steel ball guide block 5212, providing a reset thrust for the steel ball guide block 5212.

[0035] The bottom features a stepped, U-shaped structure. The higher part, extending from the return spring 5214, extends out onto the return slide rail 5218 and is located at the top of the buffer section 522. The lower, vertical part slides along the return slide rail 5218 and also serves as a limiting structure, ensuring that after the ball guide block 5212 is pushed back by the return spring 5214, the position of the ball-ejecting hole 5216 on the ball guide block 5212 is exactly above the ball inlet at the top of the buffer section 522. This facilitates the ball-ejecting rod 51 entering the ball channel inside the buffer section 522 and the ball-injecting section 523 from top to bottom through the ball-ejecting hole 5216, pushing the steel ball in the channel into the nut N1.

[0036] On the steel ball guide block 5212, two sets of through holes are provided from top to bottom: ball inlet hole 5215 and ball top hole 5216. The ball top hole 5216 is an inverted frustum shape that is wider at the top and narrower at the bottom. The ball top rod 51 can be guided into the buffer section 522 through the ball top hole 5216, which prevents the ball top rod 51 from failing to enter the ball track due to equipment processing errors, and effectively improves 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 ball inlet 5215 is located on the side of the top ball hole 5216 away from the return spring 5214.

[0038] Baffle 5213 is fixedly installed on the top surface of steel ball guide block 5212, such as Figure 7 As shown, in this embodiment, the baffle 5213 is U-shaped with a clearance opening in the middle. The size of the clearance opening is adapted to the bottom shape and size of the ejector block 22 in the feeding structure 2, ensuring that after the ejector block 22 contacts the clearance opening of the baffle 5213, it stably pushes the baffle 5213, thereby pushing the movable shielding structure 521 to move laterally along the reset slide rail 5218. When the steel ball guide block 5212 is pushed by the ejector block 22 in the feeding structure 2 towards the vertical plate of the shielding bracket 5211, until the ball inlet 5215 is aligned with the ball inlet at the top of the buffer section 522, the two sets of steel balls in the two channels in the feeding structure 2 can fall into the steel ball channel of the buffer section 522 by gravity, and then enter the ball injection section 523.

[0039] like Figure 10 As shown, the lower half of the two steel ball channels 5231 in the inner cavity of the ball injection section 523 is set as an arc-shaped channel from top to bottom. The outlet positions of the two arc-shaped channels are respectively adapted to the inlet positions of the two steel ball grooves in the inner cavity of the nut N1 to be installed. The curvature of the two arc-shaped channels is adapted to the curvature of the steel ball grooves in the nut to be installed, ensuring that the steel ball can smoothly enter the steel ball grooves in the inner cavity of the nut N1 to be installed from the ball injection section 523.

[0040] like Figure 9As shown, the ball-protecting part 524 is fitted onto the bottom of the ball-injecting part 523, and the dimensions of the ball-injecting part 523 and the ball-protecting part 524 are adapted to the inner cavity dimensions of the nut. When installing steel balls, the ball-injecting part 523 and the ball-protecting part 524 are simultaneously inserted into the inner cavity of the nut N1. In this application, the four steel ball channels in the inner cavity of the nut N1 to be installed are divided into two groups according to height, with the two lowest channels forming the first group and the two upper channels forming the second group. When installing steel balls, the two lower steel ball channels are installed first. After the first two groups of steel balls are inserted into the two steel ball channels in the inner cavity of the nut N1 to be installed, the steel ball guide structure 52 and the middle ball-sealing structure 53 are lifted, and the ball-injecting part 523 and the ball-protecting part 524 rise simultaneously. The ball-protecting part 524 just blocks the steel balls in the two lower channels, preventing the steel balls from falling out.

[0041] like Figures 8-9 As shown, the central ball sealing structure 53 includes: a ball sealing drive cylinder 531 and a transverse ball sealing slider 532.

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

[0043] In the default position, the output shaft of the sealing drive cylinder 531 is extended, and the second steel ball channel 533 connects the channel between the buffer section 522 and the ball injection section 523. Therefore, the steel balls falling from the feeding structure 2 will directly enter the steel ball channel 5231 inside the ball injection section 523. After the first two sets of steel balls are loaded, the output shaft of the sealing drive cylinder 531 retracts, causing the transverse sealing slider 532 to move towards the sealing drive cylinder 531. The second steel ball channel 533 inside the transverse sealing slider 532 is misaligned with the ball track 5221 inside the buffer section 522, thus sealing the bottom of the ball track 5221. In this state, the steel balls falling a second time from the feeding structure 2 are only temporarily stored in the inner cavity of the buffer section 522. Once the feeding structure 2 retracts laterally to the default position, the ball loading lifting drive structure 6 raises the ball injection structure 5 to the second ball loading height. The two steel ball channels 5231 of the ball section 523 then connect with the two upper steel ball channels in the inner cavities of the two upper nut N1s. The sealing drive cylinder 531 activates, pushing the lateral sealing slider 532 to the ball channel connection position. The two sets of steel balls inside the buffer section 522 then fall into the steel ball channels 5231 inside the ball injection section 523. The second ball loading process is then performed.

[0044] This application, by setting a central ball-sealing structure in the ball-injection structure, ensures that after the second set of steel balls is fed, they will not immediately roll downwards, but remain in the buffer section of the ball-injection structure. Through the cooperation of the central ball-sealing structure and the ball-loading lifting drive structure, it ensures that steel balls of different heights can be installed in the grooves of the mother steel balls without adjusting the height of the feeding structure, thereby reducing system complexity and improving steel ball installation efficiency.

[0045] like Figure 7 and Figure 8 As shown, the ball loading lifting drive 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 guide rail 62 is mounted on the guide rail mounting plate 61, and the lifting slide plate 63 is slidably connected to the lifting guide rail 62. The upper cylinder 64 and lower cylinder 65 are both fixedly mounted on one side of the guide 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 downwards to the lifting push plate 66; the output end of the lower cylinder 65 is upwards, located below the lifting push plate 66. A ball-injection structure mounting plate 69 is provided on the lifting slide plate 63; the ball-injection structure 5 is mounted on the ball-injection structure mounting plate 69. It also includes a limiting screw 67, which is located on the lower end face of the lifting push plate 66; a limiting cross plate 68 is provided on the mounting plate of the lower cylinder 65; the limiting screw 67 is located directly above the limiting cross plate 68.

[0047] The output shaft of the upper cylinder 64 has two positions: one is the default position at the top when the output shaft is retracted, and the other is the first ball loading position at the bottom when the output shaft is extended. When the output shaft of the upper cylinder 64 is in the first ball loading position, the bottom outlets of the two ball channels 5231 inside the ball injection section 523 are aligned with the inlets of the two lower ball channels in the nut N1.

[0048] The output shaft of the lower cylinder 65 has two positions: a default position when the output shaft is retracted and a second ball loading position when the output shaft is extended. The lower cylinder 65 and the lifting push plate 66 are not connected. When the output shaft of the lower cylinder 65 is in 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 in its default position, the output shaft of the lower cylinder 65 and the lifting push plate 66 are completely disengaged. When the output shaft of the upper cylinder 64 extends and pushes the lifting push plate 66, causing the ball injection structure 5 to descend to the first ball loading position, the limiting screw 67 and the limiting cross plate 68 ensure that the lifting push plate 66 descends to its lowest position, preventing it from going too low or too high. This ensures that the ball injection section 523 reaches the first ball loading position within the nut cavity and also ensures that the output end of the lower cylinder 65 can push the lifting push plate 66 upward after activation.

[0049] After the first set of steel balls is installed and the lower ball structure 2 injects the second set of steel balls into the inner cavity of the buffer section 522, and the nut seat rotates to the second ball loading angle, the lower cylinder 65 is activated, and its output shaft pushes the lifting push plate 66 upward. Because the torque of the lower cylinder 65 is greater than that of the upper cylinder 64, it can push the lifting push plate 66 and the lifting slide plate 63 upward along the lifting guide rail 62, while 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 section 523 are aligned with the inlets of the two upper steel ball channels in the nut N1, respectively, allowing the second ball loading process to proceed.

[0050] Because each cylinder has only two default working positions, this application sets up an upper cylinder 64 and a lower cylinder 65 to simultaneously generate thrust on the lifting push plate 66, so that the ball injection structure 5 can have three working positions: the default position, the first ball loading position, and the second ball loading position. Compared with the existing technology that uses PLC and other methods to control the working positions based on software, this method is simpler and has lower system complexity.

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

[0052] The lead screw clamping structure 4 can be implemented based on existing lead screw clamping structures. The bottom clamping structure 41 includes a rotation drive structure and a lifting drive structure, which can enable the lead screw to rotate while lifting. The middle clamping structure 42 can clamp the lead screw and support its stable rotation.

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

[0054] In the default state, the output shaft of the clamping drive cylinder 421 is in the retracted position. When the lead screw N8 to be installed is inserted between the two clamping rollers 422 and the clamping roller 423, the output shaft of the clamping drive cylinder 421 drives the clamping roller 423 to push out until the lead screw N8 is clamped. At this time, the three rollers are located at the three vertices of an equilateral triangle, providing a uniform clamping force for the lead screw N8 to be installed, ensuring accurate installation. The three rollers provide support for the lead screw N8 to be installed, and when the lead screw N8 rotates, the three rollers can also rotate with the lead screw N8 to be installed, achieving simultaneous rotation and clamping of the lead screw N8 to be installed.

[0055] like Figure 6 As shown, the bottom clamping structure 41 includes: a clamping gripper 411, a bottom rotating seat 412, a rotating seat mounting plate 413, a bottom rotating drive motor 414, a slide rail for screw lifting 415, a slide plate for screw lifting 416, and a cylinder for screw lifting drive 417. The lead screw lifting slide rail 415 is mounted on the main support 1 via the lifting slide rail connecting plate 418, and the lead screw lifting slide plate 416 is slidably mounted on the lead screw lifting slide rail 415; the lead screw lifting drive cylinder 417 is fixed on the lifting slide rail connecting plate 418, and its output end is set upward to connect to the lead screw lifting slide plate 416. The lead screw lifting drive cylinder 417 drives the lead screw lifting slide plate 416 to achieve lifting and lowering movement along the lead 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 set on the lead screw lifting slide plate 416 via 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 gripper 411 based on the cylinder gripper is set on the top of the bottom rotating seat 412, 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 grippers 411 are mounted on the bottom rotating seat 412, which is mounted on the lead screw lifting slide plate 416. After the lead screw N8 to be installed is fed into the bottom, it is placed into the three clamping grippers 411, which clamp the bottom of the lead screw. After the steel balls in the lead screw nut are injected, the lead screw lifting drive cylinder 417 first drives the lead screw lifting slide plate 416 to rise along the lead screw lifting slide rail 415. When the top of the lead screw N8 to be installed is inserted into the lead screw nut to be installed, the bottom rotation drive motor 414 starts, driving the bottom rotating shaft 419 and the bottom rotating seat 412 to rotate through the belt, chain, and other structures, thereby rotating the lead screw N8 to be installed into the inner cavity of the lead screw nut. This completes the final assembly process of the long lead screw and lead screw nut.

[0057] When installing steel balls using the technical solution of this invention, at the loading station, the bottom end of the lead screw N8 to be installed is inserted into three clamping pneumatic claws 411 and gripped by the three clamping pneumatic claws 411. The upper part of the lead screw N8 is placed into two clamping rollers 422 and one clamping roller 423. The clamping drive cylinder 421 is activated, and the middle part of the lead screw N8 is clamped by the clamping roller 423. The lead nut N1 to be installed is installed into the lead nut seat 31, and the lead nut clamping structure clamps the upper end face of the lead nut N1. After loading is completed, the lead screw and lead nut, together with the lead nut clamping structure 3 and the lead screw clamping structure 4, are moved to the ball loading station below the ball injection structure 5. In the unassembled state, the lead nut N1 and the lead screw N8 to be installed are clamped separately.

[0058] The feeding structure 2 already stores four sets of steel balls. When the lead screw N1 and lead rod N8 to be installed are moved to the ball loading station, the upper cylinder 64 is activated to push the ball injection structure 5 from its default position downwards to the first steel ball loading position; the horizontal drive structure 25 is activated to drive the feeding structure 2 horizontally towards the ball injection structure 5, the ejector block 22 pushes the baffle 5213, and then pushes the steel ball guide block 5212 horizontally. After the ball inlet 5215 is aligned with the ball inlet at the top of the buffer section 522, the feeding structure 2 completes the feeding of the first two sets of steel balls; after the feeding is completed... The horizontal drive structure 25 starts in reverse, driving the feeding structure 2 back to the default position; the steel ball guide block 5212 returns to the default position under the action of the return spring 5214, and the ball-top hole 5216 is aligned with the ball-inlet at the top of the buffer section 522; the two ball-top rods 51 move downwards, entering the internal steel ball channels of the buffer section 522 and the ball-inlet section 523 from top to bottom through the ball-top hole 5216, until the steel ball inside the ball-inlet section 523 is pushed into the two steel ball channels below the nut N1 to be installed.

[0059] After the first ball push, the two top ball sticks 51 move upwards to return to their default positions; the ball sealing drive cylinder 531 is activated, sealing the bottom of the ball track 5221; the rotation drive cylinder 82 in the nut rotation drive structure 8 is activated, driving the nut seat 31 and the nut N1 installed in the nut seat 31 to rotate to the position for the second ball loading; the horizontal drive structure 25 of the feeding structure is activated, driving the feeding structure 2 to move horizontally towards the ball injection structure 5, injecting the second set of steel balls into the buffer section 522. At this time, because the bottom outlet of the buffer section 522 is covered with chalk, the steel balls are temporarily stored in the buffer. In the storage section; the lower cylinder 65 is activated, raising the ball injection structure 5 to the second ball loading position, aligning the bottom outlets of the two ball channels 5231 inside the ball injection section 523 with the inlets of the two upper ball channels in the nut N1; the ball sealing drive cylinder 531 is activated in the reverse direction, pushing the transverse ball sealing slider 532 to open the ball channel 5221 inside the buffer section 522 and the ball channel 5231 inside the ball injection section 523, causing the two sets of steel balls in the buffer section to fall into the ball injection section 523; the two top ball rods 51 move downwards for the second time until the steel balls are pushed into the nut N1.

[0060] After the second ball push by the top ball stick 51, it returns to the default position. The rotation cylinder 82 in the screw nut rotation drive structure 8 reverses direction, returning to the default position. The screw lifting drive cylinder 417 and the bottom rotation drive motor 414 start simultaneously. The screw lifting drive cylinder 417 drives the bottom rotating seat 412, carrying the screw N8 upwards, into the inner cavity of the screw nut N1. The bottom rotation drive motor 414 drives the screw N8 to rotate, thus assembling the screw nut N1 and the screw N8 to be installed. At the screw N... During the process of entering the ball screw nut N1, the ball injection part 523 and the ball protection part 524, which are still located in the second steel ball mounting position, are gradually pushed out of the inner cavity of the ball screw nut from bottom to top by the ball screw N8, ensuring that the installed steel ball will not fall out of the steel ball channel due to the sudden withdrawal of the ball injection part 523 and the ball protection part 524; after the ball injection part 523 and the ball protection part 524 are completely pushed out of the inner cavity of the ball screw nut N1, the upper cylinder 64 is started, driving the ball injection structure 5 back to the uppermost default position; the assembly process of the steering gear ball screw pair is completed.

[0061] In practice, the assembly process of the aforementioned steering gear ball screw pair can be automated by combining existing PLC technology with existing sensor technology, which greatly improves the efficiency of the ball installation process of the steering gear ball screw pair.

Claims

1. A turner ball screw pair ball loading device comprising: The unloading structure, ball injection structure, clamping structure, and ball loading lifting drive structure are mounted on the main support; characterized in that: The feeding structure and the ball injection structure are arranged above the clamping structure; the ball injection structure realizes the lifting movement based on the ball loading lifting drive structure; the clamping structure includes: a nut clamping structure and a screw clamping structure arranged from top to bottom; the nut to be installed is arranged in the nut clamping structure, and the screw to be installed is arranged in the screw clamping structure; The nut clamping structure includes: 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 lead screw channel is formed at the center of the base and the nut seat, and the size of the lead screw channel is adapted to the lead screw to be installed; The nut clamping structure includes: a semi-annular clamping plate, a clamping cylinder, and a clamping mounting plate; the clamping mounting plate is disposed on the base, the output end of the clamping cylinder is mounted upward on the clamping mounting plate, and the semi-annular clamping plate is horizontally disposed at the output end of the clamping cylinder; the shape of the semi-annular clamping plate is adapted to the upper end face of the nut to be installed, and the size of the annular cavity at the center of the semi-annular clamping plate is adapted to the central cavity of the nut to be installed; It also includes a nut rotation drive structure, which includes: a nut support plate, a rotation cylinder and a rack; The nut support plate is provided with a base mounting groove, and the base is movably installed in the base mounting groove. An annular external gear is provided on the outer periphery of the base. The rack and the rotating cylinder are provided on the nut support plate. The rack is arranged horizontally and meshes with the annular external gear on the base. The output shaft of the rotating cylinder is arranged horizontally and is connected to the rack.

2. The ball loading device for a ball screw pair of a steering gear according to claim 1, characterized in that: The feeding structure includes: a steel ball feeding plate, an ejector block, a first ball sealing plate, a second ball sealing plate, a first ball releasing cylinder, and a second ball releasing cylinder; The steel ball feeding plate has two parallel ball storage channels vertically arranged, and the diameter of the ball storage channels is adapted to the diameter of the steel ball. The middle position and the bottom outlet of the ball storage channels are respectively provided with the first ball sealing plate and the second ball sealing plate insertion slot. The first ball sealing plate and the second ball sealing plate are arranged horizontally and are respectively connected to the output end of the first ball releasing cylinder and the second ball releasing cylinder. The ejector block is located at the bottom end of the steel ball feeding plate, and the first sealing plate and the second sealing plate are located on the side of the steel ball feeding plate away from the ball injection structure. The feeding structure is driven by a horizontal drive structure and moves horizontally above the clamping structure.

3. The ball loading device for a ball screw pair of a steering gear according to claim 1, characterized in that: The ball injection structure includes: a top ball rod and a steel ball guide structure; Two ball-raising rods are positioned above the steel ball guide structure; each ball-raising rod includes a straight rod portion and a spring portion, the top end of the straight rod portion is connected to a ball-raising rod lifting drive structure, and the bottom end is connected to the spring portion; the ball-raising rod achieves vertical lifting movement based on the ball-raising rod lifting drive structure. The steel ball guiding structure is disposed above the clamping structure; the steel ball guiding structure includes, from top to bottom, a movable shielding structure, a buffer section, a ball injection section and a ball protection section; The buffer section and the ball injection section each have two ball tracks inside. The bottom of the buffer section is connected to the ball injection section, and the ball tracks of the buffer section and the ball injection section are interconnected.

4. The ball loading device for a ball screw pair of a steering gear according to claim 3, characterized in that: The movable shielding structure includes: a shielding bracket, a steel ball guide block, a baffle, and a return spring; The shielding bracket is L-shaped, with its horizontal plate horizontally mounted on the buffer section, and a reset slide rail mounted above the horizontal plate of the shielding bracket. The reset spring is mounted on the sliding rod, the steel ball guide block has a horizontally formed spring cavity, the vertical plate of the shielding bracket has a through hole, the sliding rod and the reset slide rail are arranged in parallel, 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 abuts against the vertical plate of the shielding bracket, and the other end abuts against the spring cavity; The steel ball guide block is horizontally slidably mounted on the reset slide rail based on the connection structure; one end of the steel ball guide block away from the reset spring extends out of the reset slide rail and is located at the top of the buffer section; The steel ball guide block has two sets of through holes running from top to bottom: a ball inlet hole and a ball outlet hole. The ball outlet hole is an inverted frustum shape that is wider at the top and narrower at the bottom. There are two through holes in each set, and the distance between the two holes in each set is adapted to the two ball outlet rods. The ball-in hole is located on the side of the top ball hole away from the return spring; The baffle is fixedly mounted on the top surface of the steel ball guide block; The lower half of the two steel ball channels in the inner cavity of the ball injection section is set as an arc-shaped channel from top to bottom. The outlet positions of the two arc-shaped channels are respectively adapted to the inlet positions of the two steel ball grooves in the inner cavity of the nut to be installed; the curvature of the two arc-shaped channels is adapted to the curvature of the steel ball grooves in the nut to be installed. The ball guard is connected to the bottom of the ball injection section, and the dimensions of the ball injection section and the ball guard are adapted to the inner cavity dimensions of the nut.

5. The ball loading device for a ball screw pair of a steering gear according to claim 3, characterized in that: The ball injection structure also includes a central ball sealing structure, which includes a ball sealing drive cylinder and a transverse ball sealing slider. The buffer section has a horizontal sliding channel inside; the ball-sealing drive cylinder is horizontally set on one side of the buffer section; one end of the horizontal ball-sealing slider is connected to the output end of the ball-sealing drive cylinder, and the other end is inserted into the sliding channel; two parallel vertical steel ball channels are opened in the horizontal ball-sealing slider, and the position and size of the steel ball channels are adapted to the ball track of the buffer section.

6. The ball loading device for a ball screw pair of a steering gear according to claim 1, characterized in that: The ball loading lifting drive structure includes: a guide rail mounting plate, a lifting guide rail, a lifting slide plate, an upper cylinder, a lower cylinder, and a lifting 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; Both the upper cylinder and the lower cylinder are fixedly mounted on the guide rail mounting plate; the upper cylinder is located above the lower cylinder; The lifting push plate is mounted 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 located below the lifting push plate. The lifting slide plate is provided with a ball injection structure mounting plate; the ball injection structure is mounted on the ball injection structure mounting plate.

7. The device of claim 6, wherein: It also includes a limiting screw, which is disposed on the lower end face of the lifting push plate; a limiting horizontal plate is disposed on the mounting plate of the lower cylinder; and the limiting screw is disposed directly 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 lead screw clamping structure includes: a bottom clamping structure and a middle clamping structure; The central clamping structure includes: a clamping drive cylinder, two clamping rollers and a clamping roller; The clamping roller and the top-clamping roller are rotatably mounted on the same horizontal plane, located at the three vertices of a triangle, and the rotation axes of the three rollers are parallel to the lead screw to be installed; the two clamping rollers and the top-clamping drive cylinder are simultaneously fixedly mounted below the lead screw clamping structure, the output shaft of the top-clamping drive cylinder is horizontally set, and the top-clamping roller is connected to the output shaft of the top-clamping drive cylinder; The bottom clamping structure includes: a clamping gripper, a bottom rotating seat, a bottom rotating drive motor, a slide rail for screw lifting, a sliding plate for screw lifting, and a cylinder for screw lifting drive. The lead screw lifting slide rail is fixed to the lifting slide rail connecting plate, and the lead screw lifting slide plate is slidably installed on the lead screw lifting slide rail; the lead screw lifting drive cylinder is fixed to the lifting slide rail connecting plate, and its output end is connected to the lead screw lifting slide plate upward; A rotating seat mounting plate is provided on the lead screw lifting slide plate, and the bottom rotation drive motor is provided on the lead screw lifting slide plate; the bottom rotating seat is rotatably mounted on the rotating seat mounting plate based on the bottom rotating shaft, and the clamping gripper is located on the top of the bottom rotating seat, directly below the middle clamping structure; the bottom rotation drive motor drives the bottom rotating seat to rotate based on the bottom rotating shaft.

Images