Synchronous press-fitting system and press-fitting control method for cross shaft clamp spring

Abstract

The invention belongs to the technical field of cross shaft machining, and particularly relates to a synchronous press-fitting system and a press-fitting control method for a cross shaft clamp spring. The synchronous press-fitting system comprises a machine base, the upper portion of the machine base is provided with a supporting frame, the lower portion of the machine base is provided with a base, and the supporting frame is provided with a driving device; the synchronous press-fitting assembly is arranged on the machine base and is driven by a driving device to press-fit the clamp spring at the joint of two shaft parts, on the same straight line, in the cross shaft and the corresponding universal joint forks; the pressure monitoring module is arranged in the synchronous press-fitting assembly and used for detecting the pressure applying condition on the workpiece in the press-fitting process; the displacement monitoring module is arranged in the synchronous press-fitting assembly and used for monitoring the distance change between the displacement monitoring module and the corresponding press-fitting end face of the cross shaft in the press-fitting process; and the control module controls the operation of the system.

Description

Technical Field

[0001] The present invention belongs to the technical field of cross shaft processing, and particularly relates to a synchronous pressing system for a cross shaft snap ring and a pressing control method. Background Art

[0002] With the rapid development of industry and the improvement of people's living standards, mechanical transmission equipment has become one of the indispensable tools for people's travel, freight transportation, operation, etc.

[0003] As an important component of the transmission shaft in mechanical transmission equipment, the universal joint mainly consists of a cross shaft and two universal joint forks. During assembly, the cross shaft needs to be installed on the universal joint fork, and a snap ring is arranged on the universal joint fork to prevent the cross shaft from shifting. At present, the assembly method of the universal joint is manual positioning and installation, which affects the production cost of the universal joint due to high labor cost and low installation efficiency. Summary of the Invention

[0004] The object of the present invention is to provide a pressing system and a pressing control method for automatically pressing a snap ring onto a universal joint fork to limit the cross shaft and preventing unqualified products from entering the next production process for the above-mentioned existing technical problems.

[0005] In view of this, the present invention provides a synchronous pressing system for a cross shaft snap ring, including: A machine base, on the upper part of which a support frame is formed, and on the lower part of which a base is formed, and a driving device is provided on the support frame; wherein the driving device can be a hydraulic driving cylinder, a high-pressure servo cylinder or other driving components capable of vertical pressing, and the driving device is located at the upper end of the support frame of the machine base with the driving end facing downwards; A synchronous pressing assembly, arranged on the machine base and driven by the driving device to press the snap ring onto the connection between two coaxial parts of the cross shaft and the corresponding universal joint fork; A pressure monitoring module, arranged in the synchronous pressing assembly, for detecting the pressing condition of the workpiece during the pressing process; A displacement monitoring module, arranged in the synchronous pressing assembly, for monitoring the change in the distance from the corresponding pressing end face of the cross shaft during the pressing process; A control module, controlling the operation of the driving device and simultaneously receiving the data monitored by the pressure monitoring module and the displacement monitoring module; the control module includes a control cabinet, and electronic components such as a controller, a control circuit, a contactor, a relay and a frequency converter are arranged in the control cabinet, and an optoelectronic alarm is also provided outside; Among them, the control module judges whether the snap ring is pressed in, whether the pressing of the snap ring is in place, whether multiple snap rings are pressed in, etc. according to the data monitored by the pressure monitoring module and the displacement monitoring module.

[0006] In the above technical solution, further, it further includes: A workpiece positioning mechanism is arranged on the machine base and on one side of the synchronous press-fitting assembly, and is used for supporting and positioning the universal joint fork. A circlip automatic feeding mechanism provides circlips for the synchronous press-fitting assembly. Among them, the workpiece positioning mechanism may include: A support arm for supporting the universal joint fork. A floating support frame for installing the support arm, and the support arm can float up and down following the universal joint fork during the process of pressing the circlip into the universal joint fork.

[0007] In the above technical solution, further, the synchronous press-fitting assembly includes: Two synchronous press-fitting platforms are symmetrically arranged up and down, one is arranged on the base at the lower part of the machine base, and the other is arranged on the driving end of the driving device. The described synchronous press-fitting platform includes: A support seat is connected to the base of the machine base or the driving end of the driving device. A press-fitting positioning cylinder is arranged on the support seat and is telescopically connected to the support seat. An inner press-fitting column has one end fixed inside the support seat and the other end extending into the press-fitting positioning cylinder. The end away from the support seat forms a positioning portion with a thickness less than the thickness of the circlip and an outer diameter less than the inner diameter of the circlip, and the inner press-fitting column can extend out of the press-fitting positioning cylinder.

[0008] In the above technical solution, further, the pressure monitoring module includes: A number of external pressure sensors are respectively arranged on the upper and lower sides of the synchronous press-fitting assembly, and are used for detecting the change of the pressure applied to the circlip during the press-fitting process. A number of internal pressure sensors are respectively arranged on the upper and lower sides of the synchronous press-fitting assembly and inside the external pressure sensors, and are used for detecting the pressure applied to the end face of the cross shaft during the press-fitting process. A driving pressure detector is used for detecting the change of the air pressure or hydraulic pressure inside the driving device. The described displacement monitoring module includes: A number of end face displacement sensors are respectively arranged on the upper and lower sides of the synchronous press-fitting assembly, and are used for detecting the change of the distance between the end face of the cross shaft during the press-fitting process. Among them, the external pressure sensors can be respectively arranged on the outer edge of the end of the inner press-fitting column with the positioning portion; the internal pressure sensors can be respectively arranged on the positioning portion; the end face displacement sensors can be respectively arranged inside the positioning portion.

[0009] A press-fitting control method for a synchronous press-fitting system of a cross shaft circlip includes: S1, Cross shaft installation, fix the universal joint fork with a cross shaft for the snap ring to be press-fitted. The handling and installation of the universal joint fork can be completed by an external robotic arm, and there is an external conveyor belt for transporting the universal joint fork with a cross shaft. The robotic arm grabs the universal joint fork with a cross shaft for the snap ring to be installed from the conveyor belt and places it on the workpiece positioning mechanism. S2, First-time snap ring press-fitting, drive the synchronous press-fitting assembly through the driving device to synchronously press-fit the snap rings at both ends of the universal joint fork at the positions where two coaxial shaft parts of the cross shaft are located. S3, Cross shaft position switching, flip the position of the universal joint fork with a cross shaft to align the other two shaft parts without snap rings pressed onto them with the synchronous press-fitting assembly. The position switching of the cross shaft is completed by the robotic arm. S4, Second-time snap ring press-fitting, drive the synchronous press-fitting assembly through the driving device to synchronously press-fit the snap rings at both ends of the universal joint fork corresponding to the other two coaxial shaft parts of the cross shaft. After the press-fitting is completed, the universal joint fork with a cross shaft is grabbed by the robotic arm and placed on the conveyor belt. Both S2 and S4 include a judgment step, where the control module judges whether a snap ring is pressed into the universal joint fork and whether the snap ring is press-fitted in place based on the data obtained by the pressure monitoring module and the displacement monitoring module.

[0010] In the above technical solution, further, The judgment step includes: Step 1, obtain the current pressure P in the driving device before press-fitting S , obtain the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower end faces of the cross shaft; judge whether this data is within the initial threshold value. If so, proceed to the next step. Step 2, detect the pressure P of the current driving device during press-fitting S1 , determine P according to the pressure information S1 whether it enters the pressure threshold value P 阈 during the change process. If it enters, trigger a pressure acquisition signal. After the signal is triggered, obtain the pressure of the driving device and the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft. Step 3, analyze, process and compare the internal pressure of the driving device, the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft, so as to judge whether a snap ring is pressed in, whether the snap ring is press-fitted in place, and whether multiple snap rings are pressed in.

[0011] In the above technical solution, further, Obtaining the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft in Step 1 includes: The pressure P AO1 borne by the outer edge of the end of the inner press-fitting column with a positioning part on the upper side of the synchronous press-fitting assembly; The pressure P borne by the positioning part of the inner press-fitting column in the middle on the upper side of the synchronous press-fitting assembly AI1 ; The pressure P borne by the outer edge of one end of the inner press-fitting column in the middle on the lower side of the synchronous press-fitting assembly with a positioning part BO1 ; The pressure P borne by the positioning part of the inner press-fitting column in the middle on the lower side of the synchronous press-fitting assembly BI1 ; The distance H between the positioning part of the inner press-fitting column in the middle on the upper side of the synchronous press-fitting assembly and the upper press-fitting end face of the cross shaft A1 ; and The distance H between the positioning part of the inner press-fitting column in the middle on the lower side of the synchronous press-fitting assembly and the lower press-fitting end face of the cross shaft B1 .

[0012] In the above technical solution, further Obtaining the pressure of the driving device and the pressure and distance data of the synchronous press-fitting assembly on the lower side and the lower side on the cross shaft or the snap ring in step two includes: Obtaining the pressure change trend P of the driving device St And obtaining the pressure peak value P from it Smax , and determining the pressure compensation coefficient △P according to P Smax ; Obtaining the pressure change trend P of the outer edge of one end of the inner press-fitting column in the middle on the upper side of the synchronous press-fitting assembly with a positioning part AOt And obtaining the maximum value P from it AOmax and the minimum value P AOmin ; Obtaining the pressure change trend P of the positioning part of the inner press-fitting column in the middle on the upper side of the synchronous press-fitting assembly AIt And obtaining the maximum value P from it AImax and the minimum value P AImin ; Obtaining the pressure change trend P of the outer edge of one end of the inner press-fitting column in the middle on the lower side of the synchronous press-fitting assembly with a positioning part BOt And obtaining the maximum value P from it BOmax and the minimum value P BOmin ; Obtaining the pressure change trend P of the positioning part of the inner press-fitting column in the middle on the lower side of the synchronous press-fitting assembly BIt And obtaining the maximum value P from it BImax and the minimum value P BImin ; Obtaining the distance change trend H between the positioning part of the inner press-fitting column in the middle on the upper side of the synchronous press-fitting assembly and the upper press-fitting end face of the cross shaft AT And obtaining the maximum value H from it Amax and the minimum value H Amin ; Obtain the change trend H of the distance between the positioning part of the inner press-fitting column on the lower side of the synchronous press-fitting assembly and the press-fitting end face of the lower part of the cross shaft BT And obtain the maximum value H therefrom Bmax And the minimum value H Bmin .

[0013] In the above technical solution, further, if in step two H Bmin ≤ 1 / 8△H and / or H Amin ≤ 1 / 8△H; and / or H Bmin ≥△H and / or H Amin ≥△H; and / or P AImax -P AImin >P AOmax -P AOmin And / or P BImax -P BImin >P BOmax -P BOmin ; and / or P AOmax +△P>P AO△ And / or P BOmax +△P>P BO△ ; Then it is determined that the press-fitting is abnormal, where △H is the thickness of the circlip

[0014] In the above technical solution, further, if in step two H Amax -H Amin ≥H A1 *0.995 and / or H Bmax -H Bmin ≥H B1 *0.995; Then it is determined that the press-fitting is abnormal, where P AO△ Is the average value of multiple Ps respectively measured after multiple qualified press-fittings after delivering the drive medium to the drive device when the power of the external hydraulic or pneumatic drive source is at the maximum power during the system operation test. Where P AOmax Is the average value of multiple Ps respectively measured after multiple qualified press-fittings after delivering the drive medium to the drive device when the power of the external hydraulic or pneumatic drive source is at the maximum power during the system operation test BO△ Is the average value of multiple Ps respectively measured after multiple qualified press-fittings after delivering the drive medium to the drive device when the power of the external hydraulic or pneumatic drive source is at the maximum power during the system operation test NOmax .

[0015] The beneficial effects of the present invention are: 1. The press-fitting system can press-fit two snap rings in one press-fitting operation, enabling a universal joint to complete the press-fitting of four snap rings after only two press-fitting processes. This is more efficient and convenient than manual positioning press-fitting, thereby reducing the production cost of the universal joint. 2. The press-fitting control method determines the press-fitting condition of the workpiece by obtaining the changes in the end face pressure and spacing of the workpiece by the synchronous press-fitting assembly, and avoids unqualified workpieces from entering the next process. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of the press-fitting system of the present invention from the first perspective; Figure 2 is a schematic structural diagram of the press-fitting system of the present invention from the second perspective; Figure 3 is a schematic cross-sectional diagram of the press-fitting system of the present invention; Figure 4 is a schematic partial structural diagram of the press-fitting system of the present invention; Figure 5 is a schematic partial cross-sectional diagram of the press-fitting system of the present invention; Figure 6 is a logic control diagram of the press-fitting control method of the present invention; Figure 7 is a control diagram of the judgment steps in S2 and S4 of the press-fitting control method of the present invention; The markings in the figure are represented as: 1 - machine base, 2 - driving device, 3 - workpiece positioning mechanism, 31 - support arm, 32 - floating seat, 33 - middle support rod, 34 - support plate, 35 - floating spring, 4 - snap ring automatic feeding mechanism, 41 - snap ring guide frame, 41a - guide groove, 42 - snap ring placement cylinder, 43 - snap ring feeding plate, 5 - synchronous press-fitting table, 51 - support seat, 51a - support disc, 51b - support column, 51c - inner elastic member, 52 - press-fitting positioning cylinder, 52a - positioning cylinder body, 52b - press-fitting moving hole, 52c - limiting edge, 52d - outer guiding portion, 52e - inner press-fitting guiding hole, 52f - feeding groove, 53 - inner press-fitting column, 6 - outer pressure sensor, 7 - inner pressure sensor, 8 - end face displacement sensor. Detailed Embodiments

[0017] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0018] Embodiment 1: This embodiment provides a synchronous press-fitting system for a cross shaft snap ring, including: The machine base 1 has a support frame formed on its upper part and a base formed on its lower part. A driving device 2 is provided on the support frame. The driving device 2 can be a hydraulic driving cylinder, a high-pressure servo cylinder or other driving components capable of vertical pressing. The driving device 2 is located at the upper end of the support frame of the machine base 1 and its driving end is arranged downward. The synchronous press-fitting assembly is arranged on the machine base 1 and is driven by the driving device 2 to press-fit the snap ring at the connection between two coaxial parts of the cross shaft and the corresponding universal joint fork. The pressure monitoring module is arranged inside the synchronous press-fitting assembly and is used to detect the pressure applied to the workpiece during the press-fitting process. The displacement monitoring module is arranged inside the synchronous press-fitting assembly and is used to monitor the change in the distance between the press-fitting end face corresponding to the cross shaft during the press-fitting process. The control module controls the operation of the driving device 2 and simultaneously receives the data monitored by the pressure monitoring module and the displacement monitoring module. The control module includes a control cabinet, and electronic components such as a controller, a control circuit, a contactor, a relay and a frequency converter are arranged inside the control cabinet, and an optoelectronic alarm is also provided outside. Among them, the control module judges whether the snap ring is press-fitted, whether the press-fitting of the snap ring is in place, whether multiple snap rings are pressed in, etc. according to the data monitored by the pressure monitoring module and the displacement monitoring module.

[0019] The universal joint to be press-fitted includes a cross shaft. The cross shaft has two pairs of shaft parts respectively located on the same straight line, and the two pairs of shaft parts are perpendicular to each other. Each pair of shaft parts is arranged inside a universal joint fork. The universal joint fork is provided with two symmetrically arranged connection holes for the shaft parts to be placed, and a snap ring groove is formed inside the connection hole. After the two ends of a pair of shaft parts are installed in the corresponding connection holes, they are fixed by a snap ring.

[0020] In this technical solution, during press-fitting, the synchronous press-fitting assembly will simultaneously abut against the outer ports of the connection holes of the universal joint fork that is cooperatively connected with one of the pairs of shaft parts on the cross shaft, and perform synchronous press-fitting of the snap ring into the two side ports of the fixed universal joint fork. After the snap ring is pressed in, it will enter the snap ring groove in the connection hole, thereby limiting the shaft part of the cross shaft in the connection hole of the universal joint fork. And because two snap rings can be press-fitted in one press-fitting, only two press-fitting processes are required for a universal joint to complete the press-fitting of four snap rings, which is more efficient and convenient than manual positioning press-fitting, and thus reduces the production cost of the universal joint.

[0021] The pressure monitoring module is set to monitor the pressure of the synchronous pressing assembly on the shaft part of the cross shaft and the end face of the snap ring during the pressing process. The control module determines whether the pressing of the snap ring meets the requirements by monitoring the pressure. And the control module monitors the distance between the synchronous pressing assembly and the end face of the shaft part of the cross shaft through the displacement monitoring module, and comprehensively judges whether the snap ring is pressed into the connection hole, whether the pressing of the snap ring is in place, whether multiple snap rings are pressed in, etc. by combining the data of the pressure monitoring module.

[0022] Embodiment 2: This embodiment provides a synchronous pressing system for a cross shaft snap ring. In addition to including the technical solutions of the above embodiment, it also has the following technical features.

[0023] It further includes: A workpiece positioning mechanism 3, which is arranged on the machine base 1 and on one side of the synchronous pressing assembly, and is used for supporting and positioning the universal joint fork; A snap ring automatic feeding mechanism 4, which provides snap rings for the synchronous pressing assembly; Among them, the workpiece positioning mechanism 3 may include: A support arm 31, which is used for supporting the universal joint fork; A floating support frame, which is used for installing the support arm 31 and can make the support arm 31 float up and down following the universal joint fork during the process of pressing the snap ring into the universal joint fork; And the floating support frame includes: A floating seat 32, in which a floating cavity is formed. A floating reset assembly is arranged in the floating cavity, and a floating platform is arranged on the floating reset part in the floating cavity. Among them, the floating reset assembly can be a damper or buffer with compression reset composed of components such as springs; A middle support rod 33, one end of which is fixed on the floating platform, and the other end extends out of the floating seat 32 and is fixedly connected to a position near the middle of one end of the support arm 31; End support parts, including two support plates 34 and two floating springs 35. The two support plates 34 are symmetrically arranged. One end of the support plate 34 is fixed on the floating platform, and the other end extends out of the floating seat 32. And the end of the support arm 31 connected to the middle support rod 33 is located between the two support plates 34; The two floating springs 35 are respectively arranged on both sides of the end where the support arm 31 is located and are abutted against the support plate 34 on the corresponding side; And in order to prevent the floating spring 35 from shifting, limit holes for limiting the floating spring 35 can be arranged on both the support arm 31 and the support plate 34.

[0024] In this technical solution, the support arm 31 in the workpiece positioning mechanism 3 can support the universal joint fork during the press-fitting process, preventing the universal joint fork from shifting and resulting in an incomplete press-fitting situation. The floating support frame is used to provide a good connection and support effect for the support arm 31, preventing the deviation of the support arm 31 and causing an unsatisfactory press-fitting effect. The middle support rod 33 in the floating support frame is used for the installation and fixation of the support arm 31. The setting of the end support piece enables the support arm 31 to have a certain ability to float circumferentially along the middle support rod 33, thereby further reducing the probability of press-fitting misalignment caused by the vibration or misalignment of the support arm 31 during the press-fitting process. The setting of the floating seat 32 enables the middle support rod 33 and the end support piece to float in the vertical direction, thus ensuring the smooth progress of the press-fitting work.

[0025] Embodiment 3: This embodiment provides a synchronous press-fitting system for a cross-axis circlip. In addition to including the technical solution of the above embodiment, it also has the following technical features.

[0026] The synchronous press-fitting assembly includes: Two synchronous press-fitting platforms 5 are symmetrically arranged up and down, one is arranged on the base at the lower part of the machine base 1, and the other is arranged on the driving end of the driving device 2; The synchronous press-fitting platform 5 includes: A support seat 51, which is connected to the base of the machine base 1 or the driving end of the driving device 2; A press-fitting positioning cylinder 52, which is arranged on the support seat 51 and is telescopically connected to the support seat 51; An inner press-fitting column 53, one end of which is fixed in the support seat 51, and the other end extends into the press-fitting positioning cylinder 52. The end away from the support seat 51 forms a positioning portion with a thickness less than the thickness of the circlip and an outer diameter less than the inner diameter of the circlip, and the inner press-fitting column 53 can extend out of the press-fitting positioning cylinder 52; The support seat 51 includes: A support disc 51a, which is fixedly connected to the base of the machine base 1 or the driving end of the driving device 2 by means of threads or bolts; A support column 51b, which is fixedly arranged on the support disc 51a and has a coaxially arranged and through support hole, and a support edge is formed at the port of the support hole at the end of the support column 51b away from the support disc 51a; An inner elastic member 51c, which is coaxially arranged in the support hole and can be a high-strength spring or other elastic components; The press-fitting positioning cylinder 52 includes: A positioning cylinder body 52a, which can slide up and down and is coaxially arranged on the support hole, and one end extends out of the support hole, and a press-fitting activity hole 52b for the inner press-fitting column 53 to pass through is coaxially formed thereon; The limiting edge 52c is integrally formed on the outer wall of the positioning cylinder 52a, located within the support hole and in limiting cooperation with the support edge; The outer guiding portion 52d is integrally formed on the outer wall of one end of the positioning cylinder 52a away from the support seat 51; The inner press-fitting guiding hole 52e is coaxially arranged at the end of the press-fitting moving hole 52b, at the same end as the outer guiding portion 52d, and is in a flared shape outward from the connection of the press-fitting moving hole 52b. The minimum diameter of the flared shape is greater than the outer diameter of the inner press-fitting column 53; The feeding groove 52f is formed on the positioning cylinder 52a, communicates with the press-fitting moving hole 52b, and is located on the side closer to the inner press-fitting guiding hole 52e; The snap ring automatic feeding mechanism 4 includes: The snap ring guiding frame 41 is fixedly connected to the positioning cylinder 52a, and a guiding groove 41a connected to the feeding groove 52f is formed thereon; The snap ring placement cylinder 42 is fixedly arranged on the snap ring guiding frame 41, and its bottom is connected to the guiding groove 41a; The snap ring feeding plate 43 is slidably arranged on the guiding groove 41a, and can send the snap ring at the bottom of the snap ring placement cylinder 42 through the guiding groove 41a and into the press-fitting moving hole 52b through the feeding groove 52f; One end of the inner elastic member 51c abuts against the limiting edge 52c, and the other end abuts against the support disc 51a; Before press-fitting, the press-fitting positioning cylinders 52 of the two synchronous press-fitting stations 5 respectively abut against both ends of the universal joint fork with a cross shaft, and then the snap ring is conveyed into the press-fitting moving hole 52b through the feeding groove 52f; The snap ring automatic feeding mechanism 4 of it may further include: The telescopic positioning rod is used to support the snap ring guiding frame 41, so that the guiding and positioning frame can perform floating displacement up and down following the press-fitting positioning cylinder 52 during the press-fitting process; The feeding cylinder is arranged on the snap ring guiding frame 41 and drives the snap ring feeding plate 43 to reciprocate on the guiding groove 41a.

[0027] In this technical solution, the two synchronous press-fitting stations 5 are respectively arranged on the driving end of the driving device 2 and the base of the machine base 1, so that the driving device 2 can simultaneously drive the two synchronous press-fitting stations 5 to perform synchronous press-fitting of the snap rings at both ends of the clamped universal joint fork; The support seat 51 is used to position and support the press-fitting positioning cylinder 52 and the inner press-fitting column 53. The press-fitting positioning cylinder 52 is used to provide a press-fitting channel for the snap ring, and the inner press-fitting column 53 presses the snap ring into the connection hole of the universal joint fork during the press-fitting process. The driving end of the driving device 2 has two output strokes. During the first output, the synchronous press-fitting station 5 clamps the universal joint fork, and during the second output, the snap ring is press-fitted.

[0028] The positioning portion formed on the inner press-fitting column 53 does not abut against the end face of the shaft portion of the cross shaft when the snap ring is press-fitted into the connection hole, while the outer edge of the positioning portion abuts against the snap ring and presses the snap ring into the snap ring groove. When the snap ring is pressed into the snap ring groove, it will abut against the end face of the shaft portion of the cross shaft.

[0029] The support disk 51a in the support seat 51 facilitates the connection with the base or the drive end of the drive device 2; the support hole formed on the support column 51b provides an installation space for the sliding of the press-fitting positioning cylinder 52, and the inner elastic member 51c is used to abut against the inner press-fitting column 53, so that the inner press-fitting column 53 can slide elastically in the support hole.

[0030] The press-fitting activity hole 52b formed in the positioning cylinder body 52a of the press-fitting positioning cylinder 52 not only provides an installation space for the passage of the inner press-fitting column 53, but also provides sufficient movement space for the entry of the snap ring and the process of pressing the snap ring into the connection hole of the universal joint fork; the cooperation between the limiting edge 52c and the supporting edge can prevent the press-fitting positioning cylinder 52 from detaching from the support column 51b; the setting of the outer guiding portion 52d can better abut against the port of the connection hole of the universal joint fork and ensure the strength of abutting against the connection hole to prevent the displacement of the universal joint fork; the setting of the inner press-fitting guiding hole 52e can make the snap ring contract to a certain extent during the process of the snap ring being pressed out of the press-fitting activity hole 52b, so that the snap ring can be more easily pressed into the connection hole; the setting of the feeding groove 52f can provide a passing gap for the snap ring to enter the press-fitting activity hole 52b.

[0031] By driving the synchronous press-fitting table 5 at one end by the drive device 2 to move downward, the positioning cylinder bodies 52a of the synchronous press-fitting tables 5 at both ends slide into the support hole, thereby prompting the inner press-fitting column 53 to abut against the snap ring in the press-fitting activity hole 52b and press the snap ring into the inner press-fitting guiding hole 52e. Finally, the snap ring is pressed out of the inner press-fitting guiding hole 52e and then press-fitted onto the snap ring groove in the connection holes at both ends of the universal joint fork.

[0032] The setting of the snap ring automatic feeding mechanism 4 can automatically convey the snap ring into the press-fitting activity hole 52b during the press-fitting process, thus ensuring the automation of the press-fitting system; the snap ring guiding frame 41 can ensure the stability of the connection between the snap ring automatic feeding mechanism 4 and the press-fitting positioning cylinder 52, and provide guidance and positioning for the snap ring to enter the press-fitting positioning cylinder 52; several snap rings stacked in sequence can be placed in the snap ring placement cylinder 42; the snap ring feeding plate 43 is used to drive the snap ring through the guiding groove 41a and enter the feeding groove 52f; and when the snap ring feeding plate 43 passes below the snap ring placement cylinder 42, it will push a snap ring along the guiding groove 41a into the feeding groove 52f. At the same time, the snap ring placement cylinder 42 is provided with positioning ribs for positioning the snap ring opening. Through the setting of the positioning ribs, the opening of the snap ring will not deflect too much during the process of entering the press-fitting activity hole 52b and being pressed into the universal joint fork.

[0033] Furthermore, a telescopic positioning rod can be set to support the snap ring guide 41, ensuring the stable structure of the installation of the snap ring guide 41, and enabling the snap ring guide 41 to elastically displace and reset along with the press-fitting positioning cylinder 52 during the press-fitting process; the feeding cylinder is provided to drive the snap ring feeding plate 43 to automatically convey the snap ring to the feeding groove 52f, so as to ensure the automation of snap ring feeding in the press-fitting system.

[0034] Embodiment 4: This embodiment provides a synchronous press-fitting system for a cross shaft snap ring. In addition to including the technical solutions of the above embodiments, it also has the following technical features.

[0035] The pressure monitoring module includes: A plurality of external pressure sensors 6 are respectively arranged on the upper and lower sides of the synchronous press-fitting assembly, and are used to detect the pressure change applied to the snap ring during the press-fitting process; A plurality of internal pressure sensors 7 are respectively arranged on the upper and lower sides of the synchronous press-fitting assembly and inside the external pressure sensors 6, and are used to detect the pressure applied to the cross shaft end face during the press-fitting process; A driving pressure detector is used to detect the change in air pressure or hydraulic pressure in the driving device 2; The displacement monitoring module includes: A plurality of end face displacement sensors 8 are respectively arranged on the upper and lower sides of the synchronous press-fitting assembly, and are used to detect the change in the distance between the cross shaft end face during the press-fitting process; Among them, the external pressure sensors 6 can be respectively arranged on the outer edge of one end of the inner press-fitting column 53 with a positioning part; the internal pressure sensors 7 can be respectively arranged on the positioning part; the end face displacement sensors 8 can be respectively arranged inside the positioning part.

[0036] In this technical solution, both the external pressure sensor 6 and the pressure sensor can be thin-film sensors, and the end face displacement sensor 8 can be a laser displacement sensor. The external pressure sensor 6 detects the pressure exerted by the inner press-fitting column 53 on the snap ring during the press-fitting process. When the snap ring is completely pressed into the snap ring groove, the snap ring will abut against the end face of the cross shaft. At this time, the detected pressure should be the maximum. Due to the setting of the positioning ribs, the external pressure sensor 6 will not be in the position of the snap ring opening, resulting in the failure of pressure detection; the internal pressure sensor 7 is arranged on the positioning part. Since the thickness of the positioning part is less than the thickness of the snap ring, the positioning part will not abut against the end face of the cross shaft during the press-fitting process of the snap ring. At this time, the pressure detected by the internal pressure sensor 7 hardly changes; the driving pressure monitor is used to monitor the change of air pressure or hydraulic pressure in the driving device 2, so as to timely correct the detected pressure when the hydraulic pressure or air pressure fluctuates, and better determine whether the detected pressure exerted on the snap ring is within the normal range. The displacement sensor is used to detect the change in the distance between the positioning part and the end face of the cross shaft during the press-fitting process, so as to judge whether a snap ring is pressed into the universal joint fork. In order to facilitate the placement of the external pressure sensor 6, the internal pressure sensor 7 and the end face displacement sensor 8, an installation hole for the end face displacement sensor 8 can be provided on the positioning part, and sink grooves for the external pressure sensor 6 and the internal pressure sensor 7 can be provided on the positioning part and the outer edge of the positioning part respectively. The inner press-fitting column 53 can be floatingly fixed on the support plate 51a through a hollow bolt; a through wire hole can be provided on the inner press-fitting column 53 to facilitate the wiring of the external pressure sensor 6, the internal pressure sensor 7 and the end face displacement sensor 8. A flexible contact layer can be covered on the positioning part and its outer edge. The flexible contact layer covers the positioning groove but does not block the installation hole. And the sum of the thicknesses of the positioning part and the flexible contact layer is less than the thickness of the snap ring, and this sum of thicknesses can be 3 / 4 of the thickness of the snap ring.

[0037] Embodiment 5: This embodiment provides a press-fitting control method for a synchronous press-fitting system of a cross shaft snap ring. In addition to including the technical solutions of the above embodiments, it also has the following technical features.

[0038] The press-fitting control method includes: S1. Cross shaft installation, fixing the universal joint fork with a cross shaft to which the snap ring to be press-fitted is attached; the handling and installation of the universal joint fork can be completed by an external robotic arm, and there is an external conveyor belt for conveying the universal joint fork with the cross shaft. The robotic arm grabs the universal joint fork with the cross shaft to which the snap ring to be installed is attached from the conveyor belt and places it on the workpiece positioning mechanism 3; S2. First press-fitting of the snap ring, driving the synchronous press-fitting component through the driving device 2 to perform synchronous press-fitting of the snap rings at both ends of the universal joint fork at the positions where two coaxial shaft parts of the cross shaft are located; S3, cross-axis position switching, flip the universal joint fork with the cross-axis, and align the other two shafts without the retaining springs with the synchronous press-fit assembly; the cross-axis position switching is completed by the robot arm; S4, secondary press-fitting of the retaining spring, driving the synchronous press-fitting assembly through the driving device 2 to synchronously press-fit the retaining springs at both ends of the universal joint fork corresponding to the other two coaxial shafts of the cross shaft; after the press-fitting, the universal joint fork with the cross shaft is grabbed by the robot arm and placed on the conveyor belt; Both S2 and S4 include a judgment step, in which the control module judges whether a retaining spring is pressed into the universal joint fork and whether the retaining spring is pressed into place according to the data obtained by the pressure monitoring module and the displacement monitoring module.

[0039] In this technical solution, in step 1, the driving end of the driving device 2 performs the displacement of the first stroke, thereby resisting the universal joint fork; the press-fitting control method can complete the press-fitting of the retaining springs between the four shafts of the cross shaft and the corresponding universal joint forks through two press-fittings, thereby improving the press-fitting efficiency of the retaining springs of the cross shaft, and at the same time, by adding the judgment step, it can be judged whether the retaining springs in the universal joint after press-fitting are misplaced and whether there are redundant retaining springs pressed in, etc. The cross shaft retaining spring press-fitting can be realized automatically through the cooperation of the external conveyor belt and the robot arm, thereby further reducing the investment of labor cost for press-fitting.

[0040] Embodiment 6: This embodiment provides a press-fitting control method, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0041] The judgment steps include: Step 1: Obtain the current pressure P in the drive device 2 before press-fitting S , obtain the pressure and spacing data of the synchronous press-fit assembly on the upper and lower end surfaces of the cross shaft; determine whether the data is within the initial threshold, and if so, proceed to the next step; Step 2: Detect the current pressure P of the drive device 2 during the press-fitting process. S1 , determine P according to the pressure information S1 Whether the pressure threshold P is reached during the change process 阈 If it enters, the pressure acquisition signal is triggered. After the signal is triggered, the pressure of the driving device 2 and the pressure and spacing data of the synchronous press-fitting component on the upper and lower press-fitting end faces of the cross shaft are obtained; Step three, analyze, process and compare the internal pressure of the drive device 2 and the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft, so as to determine whether a retaining spring is pressed in, whether the retaining spring is pressed in place, and whether multiple retaining springs are pressed in.

[0042] In this technical solution, the current pressure P in the driving device 2 is obtained before pressing. SThe time is after the synchronous press-fitting table 5 clamps the universal joint fork, and during this process, the circlip has not yet entered the press-fitting positioning cylinder 52. By obtaining the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower end faces of the cross shaft, if the pressure and spacing data are not within the initial threshold, it is determined that there is an initial abnormality in the equipment, and the press-fitting work is not carried out, and an alarm signal is sent out through the control module. If the pressure and spacing data are within the initial threshold, it is determined that the equipment is initially normal, and then the circlip is controlled to enter the press-fitting positioning cylinder 52. The initial threshold is a range value formed by multiple values measured during the system circlip press-fitting debugging process, and the initial thresholds obtained by testing for different models of universal joints are different.

[0043] During the press-fitting process, if the air pressure or hydraulic pressure in the driving device 2 enters the pressure threshold P 阈 , it can be determined that the press-fitting work is in progress, thereby triggering a data signal. After the signal is triggered, the pressure of the driving device 2 and the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft are obtained, so that the controller does not need to continuously receive signals, reducing the operating load of the controller.

[0044] During the subsequent press-fitting process, by analyzing, processing, and comparing the detected pressure and spacing data, the press-fitting situation of the circlip can be judged more accurately.

[0045] Embodiment 7: This embodiment provides a press-fitting control method, which, in addition to including the technical solutions of the above embodiments, further has the following technical features.

[0046] Obtaining the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft in step one includes: The pressure P borne by the outer edge of the end of the inner press-fitting column 53 with a positioning part in the upper part of the synchronous press-fitting assembly AO1 ; The pressure P borne by the positioning part of the inner press-fitting column 53 in the upper part of the synchronous press-fitting assembly AI1 ; The pressure P borne by the outer edge of the end of the inner press-fitting column 53 with a positioning part in the lower part of the synchronous press-fitting assembly BO1 ; The pressure P borne by the positioning part of the inner press-fitting column 53 in the lower part of the synchronous press-fitting assembly BI1 ; The spacing H between the positioning part of the inner press-fitting column 53 in the upper part of the synchronous press-fitting assembly and the upper press-fitting end face of the cross shaft A1 ; and The spacing H between the positioning part of the inner press-fitting column 53 in the lower part of the synchronous press-fitting assembly and the lower press-fitting end face of the cross shaft B1 .

[0047] In this technical solution, if H A1 and HB1 If they are all smaller than the initial threshold value, it can be determined that the driving of the driving device 2 is abnormal. For example, the stroke of the first driving exceeds the preset value. If the pressure P AO1 , P AI1 , P BO1 and P BI1 then continue with the subsequent work; if H A1 or H B1 any one value is smaller than the initial threshold value, it can be preliminarily determined that the upper internal pressure mounting column 53 or the lower internal pressure mounting column 53 is stuck by foreign objects. At this time, the system does not perform the subsequent work and gives an alarm.

[0048] If H A1 is smaller than the initial threshold value and the pressure P AI1 is smaller than the initial threshold value, it can be preliminarily determined that the upper internal pressure mounting column 53 has detached from the support seat 51. At this time, the system does not perform the subsequent work and gives an alarm.

[0049] If H A1 , H B1 , P AI1 and P BI1 are all within the initial threshold value, and only the pressure P AO1 and / or P BO1 is not within the initial threshold value, it can be determined that the upper external pressure sensor 6 or the lower external pressure sensor 6 senses abnormally.

[0050] If if H A1 and H B1 are both smaller than the initial threshold value, and the pressure P AO1 or P BO1 is greater than the initial threshold value, it can be determined that a snap ring enters the press-fitting positioning cylinder 52 prematurely.

[0051] Embodiment 8: This embodiment provides a press-fitting control method, which, in addition to including the technical solutions of the above embodiments, further has the following technical features.

[0052] In step two, obtaining the pressure of the driving device 2 and the pressure and spacing data of the upper and lower sides of the synchronous press-fitting assembly on the cross shaft or snap ring includes: Obtaining the pressure change trend P St of the driving device 2 and obtaining the pressure peak value P Smax from it. According to P Smax determine the pressure compensation coefficient △P; Obtaining the pressure change trend P AOt borne by the outer edge of the end with the positioning part of the internal pressure mounting column 53 on the upper side of the synchronous press-fitting assembly and obtaining the maximum value P AOmax and the minimum value P AOmin from it; Obtain the pressure change trend P of the positioning part of the inner press-fitting column 53 on the upper side of the synchronous press-fitting assembly AIt And get the maximum value P from it AImax and the minimum value P AImin ; Obtain the pressure change trend P of the outer edge of one end of the positioning portion of the inner press-fitting column 53 on the lower side of the synchronous press-fitting assembly BOt And get the maximum value P from it BOmax and the minimum value P BOmin ; Obtain the pressure change trend P of the positioning part of the inner press-fitting column 53 on the lower side of the synchronous press-fitting assembly BIt And get the maximum value P from it BImax and the minimum value P BImin ; Obtain the distance variation trend H between the positioning portion of the inner press-fitting column 53 on the upper side of the synchronous press-fitting assembly and the press-fitting end surface on the upper part of the cross shaft AT And get the maximum value H from it Amax and the minimum value H Amin ; Obtain the distance variation trend H between the positioning portion of the inner press-fitting column 53 at the lower side of the synchronous press-fitting assembly and the press-fitting end surface at the lower part of the cross shaft BT And get the maximum value H from it Bmax and the minimum value H Bmin .

[0053] In this technical solution, the peak pressure P of the drive device 2 Sma That is, determine the fluctuation of air pressure or hydraulic pressure of the driving device 2 during the press-fitting process, and form a corresponding pressure compensation coefficient according to the fluctuation. If the pressure peak value P Sma If the pressure peak value P is higher, △P is positive. Sma If it is too low, △P is a negative number. The pressure compensation coefficient is changed by changing the power of the external hydraulic or pneumatic driving source during the equipment commissioning and operation, and is determined by multiple operation monitoring.

[0054] During the press-fitting process, the pressure change trend P of the outer edge of the inner press-fitting column 53 with the positioning part on the upper side of the synchronous press-fitting component is obtained. AOt And get the maximum value P from it AOmax and the minimum value P AOmin During the press-fitting process, the outer edge of the internal press-fitting column 53 on the upper side will press against the retaining spring and press the retaining spring from the press-fitting active hole 52b into the internal press-fitting guide hole 52e, then slide out of the press-fitting guide hole into the connecting hole of the universal joint fork and against the end face of the upper end of the cross shaft. During this process, the pressure on the outer edge will be from P AO1 The pressure starts to increase, and when the retaining spring is pressed against the upper end of the cross shaft, the pressure is normally at its maximum. By obtaining the pressure change trend P during this periodAOt and obtain the maximum value P therefrom AOmax and the minimum value P AOmin so as to judge the pressing condition of the upper snap ring of the cross shaft

[0055] Obtain the pressure change trend P borne by the positioning part of the inner pressing column 53 in the upper part of the synchronous pressing assembly during the pressing process AIt and obtain the maximum value P therefrom AImax and the minimum value P AImin ; Since the thickness of the positioning part is less than the thickness of the snap ring and the outer diameter of the positioning part is less than the inner diameter of the snap ring, the positioning part on the upper side will not abut against the snap ring or the end face of the shaft part of the cross shaft during the pressing process. Therefore, the pressure change trend P borne by the positioning part AIt and P AI1 do not fluctuate much in value. If there is excessive fluctuation, it can be judged that the snap ring pressing is abnormal or other situations

[0056] Obtain the pressure change trend P borne by the outer edge of the end of the inner pressing column 53 with a positioning part in the lower part of the synchronous pressing assembly during the pressing process BOt and obtain the maximum value P therefrom BOmax and the minimum value P BOmi ; Since the outer edge of the lower inner pressing column 53 will abut against the snap ring during the pressing process and press the snap ring from the pressing hole 52b into the inner pressing guide hole 52e and then slide out of the pressing guide hole and enter the connecting hole of the universal joint fork and will abut against the end face of the upper end of the cross shaft, the pressure borne by the outer edge will increase from P BO1 and start to increase. When the snap ring is abutted against the upper end of the cross shaft, the pressure is the maximum under normal circumstances. By obtaining the pressure change trend P during this period BOt and obtain the maximum value P therefrom AOmax and the minimum value P AOmin so as to judge the pressing condition of the lower snap ring of the cross shaft

[0057] The pressure change trend P borne by the positioning part of the inner pressing column 53 in the lower part of the synchronous pressing assembly during the pressing process BIt and obtain the maximum value P therefrom BImax and the minimum value P BImi ; Since the thickness of the positioning part is less than the thickness of the snap ring and the outer diameter of the positioning part is less than the inner diameter of the snap ring, the positioning part on the lower side will not abut against the snap ring or the end face of the shaft part of the cross shaft during the pressing process. Therefore, the pressure change trend P borne by the positioning part BIt and P BI1 do not fluctuate much in value. If there is excessive fluctuation, it can be judged that the snap ring pressing is abnormal or other situations

[0058] Obtain the distance change trend H between the positioning part of the inner pressing column 53 in the upper part of the synchronous pressing assembly and the upper pressing end face of the cross shaft during the pressing process AT and obtain the maximum value H therefromAmax and the minimum value H Amin ; and obtain the changing trend H of the distance between the positioning portion of the inner press-fitting column 53 on the lower side of the synchronous press-fitting assembly and the press-fitting end face of the lower part of the cross shaft BT and obtain the maximum value H therefrom Bmax and the minimum value H Bmin ; since the thickness of the positioning portion is less than the thickness of the snap ring, H AT and H BT will gradually decrease from H A1 and H B1 until the distance is less than the thickness of the snap ring; if H A1 and / or H B1 The numerical value is not within the threshold, then it is determined that the snap ring press-fitting is abnormal.

[0059] Embodiment 9: This embodiment provides a press-fitting control method, which in addition to including the technical solutions of the above embodiments, also has the following technical features.

[0060] In step three, if H Bmin ≤ 1 / 8 * △H and / or H Amin ≤ 1 / 8 * △H; and / or H Bmin ≥ △H and / or H Amin ≥ △H; and / or P AImax -P AImin > P AOmax -P AOmin and / or P BImax -P BImin > P BOmax -P BOmin ; and / or P AOmax + △P > P AO△ and / or P BOmax + △P > P BO△ ; then it is determined that the press-fitting is abnormal, where △H is the thickness of the snap ring.

[0061] In this technical solution, during equipment debugging, the data detected by the end face displacement sensor 8 is corrected, that is, after the end face displacement sensor 8 is installed in the placement hole of the positioning portion end face, the data detected by the end face displacement sensor 8 is zeroed by blocking the placement hole.

[0062] Since the thickness of the positioning portion is 3 / 4 of the thickness of the snap ring, the ideal numerical values of H Bmin and H Amin at the end of press-fitting are 1 / 4 of △H. If H Bmin or H AminLess than 1 / 8△H, it can be preliminarily judged that no snap ring is pressed into the upper or lower end of the cross shaft. If H Bmin or H Amin ≥△H, it can be preliminarily judged that two or more snap rings are pressed into the upper or lower end of the cross shaft.

[0063] Since the positioning parts at the upper and lower ends will not contact the end face of the cross shaft during press-fitting, if P AImax -P AImin >P AOmax -P AOmin or P BImax -P BImin >P BOmax -P BOmin it indicates that the positioning part at the upper or lower end contacts the cross shaft, that is, no snap ring is pressed into the corresponding position, and a comprehensive judgment is made in combination with the value of H Bmin or H Amin to accurately judge whether a snap ring is pressed in. If P AImax -P AImin >P AOmax -P AOmin and H Amin ≤1 / 8△H, it is judged that no snap ring is pressed into the upper end; if P BImax -P BImin >P BOmax -P BOmin and H Bmin ≤1 / 8△H, it is judged that no snap ring is pressed into the lower end.

[0064] Since if multiple snap rings are pressed in, it will cause the driving end extension stroke of the driving device 2 to be blocked. At this time, the pressure of the outer edge of the positioning part on the snap ring will increase. If H Bmin or H Amin ≥△H and P AOmax +△P>P AO△ and / or P BOmax +△P>P BO△ it can be judged that multiple snap rings are pressed in.

[0065] Example 10: This embodiment provides a press-fitting control method, which, in addition to including the technical solutions of the above embodiments, further has the following technical features.

[0066] In step three, if H Amax -H Amin ≥H A1 *0.995 and / or H Bmax -H Bmin ≥H B1 *0.995; it is judged that the press-fitting is abnormal, where PAO△ During the system operation test, after delivering the driving medium to the driving device 2 when the power of the external hydraulic or pneumatic driving source is at the maximum power, multiple Ps are respectively obtained through multiple qualified press-fittings. AOmax The average value of them. Among them, P BO△ During the system operation test, after delivering the driving medium to the driving device 2 when the power of the external hydraulic or pneumatic driving source is at the maximum power, multiple Ps are respectively obtained through multiple qualified press-fittings. NOmax The average value of them.

[0067] In this technical solution, where H A1 and H B1 are within the initial threshold, H A1 *0.005 and H B1 *0.005 should be approximately equal to 1 / 4△H; and if H Amax -H Amin ≥H A1 *0.995 and / or H Bmax -H Bmin ≥H B1 *0.995, it can be preliminarily determined that the moving distance of the positioning part on the upper side or the lower side is too large, which may be due to the non-pressing of the snap ring. Combining the relationship between H Bmin and H Amin and △H can comprehensively determine whether the snap ring is pressed in; thus ensuring the accuracy of the judgment. P AOmax +△P>P AO△ and / or P BOmax +△P>P BO△ can preliminarily judge that multiple snap rings are pressed in. Combining the relationship between H Bmin or H Amin and △H can make a more accurate judgment.

[0068] The embodiments of the present application are described above in conjunction with the accompanying drawings. Without conflict, the embodiments and the features in the embodiments in the present application can be combined with each other. The present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

Claims

1. A synchronous press-fitting system for a cross shaft circlip, characterized in that, Comprising: A machine base (1) with a driving device (2) thereon; A synchronous press-fitting assembly, arranged on the machine base (1) and driven by the driving device (2) to press-fit a snap ring; A pressure monitoring module, arranged inside the synchronous press-fitting assembly, for detecting the pressure applied to the workpiece during the press-fitting process; A displacement monitoring module, arranged inside the synchronous press-fitting assembly, for monitoring the change in the distance from the press-fitting surface of the workpiece during the press-fitting process; A control module, controlling the operation of the driving device (2) and simultaneously receiving the data monitored by the pressure monitoring module and the displacement monitoring module; Wherein the control module determines whether the snap ring is pressed in and whether the press-fitting of the snap ring is in place according to the data monitored by the pressure monitoring module and the displacement monitoring module.

2. The synchronous pressing system for the cross shaft circlip according to claim 1, characterized in that, It further comprises: A workpiece positioning mechanism (3), arranged on the machine base (1); A snap ring automatic feeding mechanism (4), providing snap rings for the synchronous press-fitting assembly.

3. The synchronous press-fitting system for the cross shaft circlip according to claim 1, characterized in that, The synchronous press-fitting assembly described above comprises: Two synchronous press-fitting tables (5), symmetrically arranged up and down with respect to each other, with one arranged at the lower part of the machine base (1) and the other arranged at the driving end of the driving device (2); The synchronous press-fitting table (5) described above comprises: A support seat (51), connected to the machine base (1) or the driving end of the driving device (2); A press-fitting positioning cylinder (52), arranged on the support seat (51) and telescopically connected to the support seat (51); An inner press-fitting column (53), with one end fixed inside the support seat (51) and the other end extending into the press-fitting positioning cylinder (52), and a positioning portion (53a) with a thickness less than the thickness of the snap ring protruding at the end away from the support seat (51).

4. The synchronous press-fitting system for a cross shaft snap ring according to any one of claims 1 - 3, characterized in that The pressure monitoring module described above comprises: A number of external pressure sensors (6), respectively arranged on the upper and lower sides of the synchronous press-fitting assembly, for detecting the pressure applied to the snap ring during the press-fitting process; A number of internal pressure sensors (7), respectively arranged on the upper and lower sides of the synchronous press-fitting assembly and inside the external pressure sensors (6), for detecting the pressure applied to the end face of the cross shaft during the press-fitting process; A driving pressure detector, for detecting the pressure of the driving device (2); The displacement monitoring module described above comprises: A number of end face displacement sensors (8), respectively arranged on the upper and lower sides of the synchronous press-fitting assembly, and for detecting the change in the distance from the cross shaft during the press-fitting process.

5. A press-fitting control method for a press-fitting system of a cross shaft circlip according to any one of claims 1-4, characterized in that, Comprising: S1, Installing the cross shaft, fixing the universal joint fork with a cross shaft to which the snap ring to be press-fitted is attached; where the universal joint fork; S2, First press-fitting of the snap ring, driving the synchronous press-fitting assembly through the driving device (2) to synchronously press-fit the snap rings at both ends of the universal joint fork at the positions of two coaxial shaft parts of the cross shaft; S3, Cross shaft position switching, flipping the position of the universal joint fork with a cross shaft, aligning the other two shaft parts without press-fitted snap rings with the synchronous press-fitting assembly; the position switching of the cross shaft is completed by a robotic arm; S4, Second press-fitting of the snap ring, driving the synchronous press-fitting assembly through the driving device (2) to synchronously press-fit the snap rings at both ends of the universal joint fork corresponding to the other two coaxial shaft parts of the cross shaft; Both S2 and S4 include judgment steps, where the control module determines whether a snap ring is pressed into the universal joint fork and whether the snap ring is properly pressed based on the data obtained by the pressure monitoring module and the displacement monitoring module.

6. The press-fitting control method according to claim 5, wherein The described judgment steps include: Step 1: Obtain the current pressure P of the driving device (2) before press-fitting S , and obtain the pressure and spacing data of the one-time synchronous press-fitting assembly on the upper and lower end faces of the cross shaft; determine whether the data is within the initial threshold. If so, proceed to the next step; Step 2, detect the pressure P of the current driving device (2) during the press-fitting process S1 , and determine P according to the pressure information S1 whether it enters the pressure threshold P during the change process 阈 If it enters, trigger a pressure acquisition signal. After the signal is triggered, acquire the pressure of the driving device (2) and the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft Step 3: Analyze, process, and compare the internal pressure of the driving device (2), the pressure and spacing data of the synchronous press-fitting assembly on the upper and lower press-fitting end faces of the cross shaft, so as to judge whether a snap ring is pressed in, whether the snap ring is properly pressed, and whether multiple snap rings are pressed in.

7. The press-fitting control method according to claim 6, wherein The pressure of the driving device (2) and the pressure and spacing data of the synchronous press-fitting assembly on both sides of the cross shaft or the snap ring obtained in Step 2 include: Obtain the pressure change trend P of the driving device (2) St And obtain the pressure peak value P from it Smax , according to P Smax Determine the pressure compensation coefficient △P; Obtain the pressure change trend P of the outer edge of one end of the inner press-fitting column (53) with a positioning portion (53a) on the upper side of the synchronous press-fitting assembly AOt And obtain the maximum value P therefrom AOmax And the minimum value P AOmin ; Obtain the pressure change trend P borne by the positioning portion (53a) of the inner press-fitting column (53) on the upper side of the synchronous press-fitting assembly AIt And obtain the maximum value P therefrom AImax And the minimum value P AImin ; Obtain the pressure change trend P of the outer edge of one end of the inner press-fitting column (53) with a positioning portion (53a) under the synchronous press-fitting assembly BOt And obtain the maximum value P therefrom BOmax And the minimum value P BOmin ; Obtain the pressure change trend P borne by the positioning portion (53a) of the inner press-fitting column (53) on the lower side of the synchronous press-fitting assembly BIt And obtain the maximum value P therefrom BImax And the minimum value P BImin ; Obtain the variation trend H of the distance between the positioning portion (53a) of the inner press-fitting column (53) on the upper side of the synchronous press-fitting assembly and the press-fitting end surface of the upper part of the cross shaft AT And obtain the maximum value H therefrom Amax And the minimum value H Amin ; Obtain the changing trend H of the distance between the positioning part (53a) of the inner press-fitting column (53) on the lower side of the synchronous press-fitting assembly and the press-fitting end surface at the lower part of the cross shaft BT And obtain the maximum value H therefrom Bmax And the minimum value H Bmin .

8. The press-fitting control method according to claim 7, wherein In Step 3, if H Bmin ≤ 1 / 8 △H and / or H Amin ≤ 1 / 8 △H; and / or H Bmin ≥ΔH and / or H Amin ≥ΔH; and / or P AImax -P AImin >P AOmax -P AOmin and / or P BImax -P BImin >P BOmax -P BOmin ; and / or P AOmax +△P > P AO△ and / or P BOmax +△P > P BO△ ; it is determined that the press-fitting is abnormal, where △H is the thickness of the circlip.

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