Cross shaft snap spring synchronous press fitting system and press fitting control method

Abstract

The present application belongs to the cross shaft processing technical field, especially to a kind of cross shaft snap spring's synchronous press fitting system and press fitting control method;Synchronous press fitting system includes: machine base, the upper portion of machine base is formed with support frame, the lower portion is formed with base, and the support frame is provided with driving device;Synchronous press fitting assembly is set on machine base, and is driven by driving device to press fit snap spring in two shaft portions in the same straight line of cross shaft and the connecting place of corresponding card's joint;Pressure monitoring module is set in synchronous press fitting assembly, for detecting the pressure situation of workpiece in press fitting process;Displacement monitoring module is set in synchronous press fitting assembly, for monitoring the distance change of corresponding press fitting end surface with cross shaft in press fitting process;Control module controls the operation of system.

Description

Technical Field

[0001] This invention belongs to the field of cross shaft machining technology, and particularly relates to a synchronous press-fitting system and press-fitting control method for cross shaft retaining rings. Background Technology

[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, and operations.

[0003] Universal joints, as crucial components of drive shafts in mechanical transmission equipment, primarily consist of a cross shaft and two universal joint forks. During assembly, the cross shaft must be mounted on the universal joint forks, and retaining rings are installed on the forks to prevent displacement of the cross shaft. Currently, universal joints are assembled manually, which is costly in terms of labor and inefficient, thus impacting production costs. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned technical problems by providing a pressing system and pressing control method that can automatically press the snap ring onto the universal joint fork to limit the cross shaft and prevent unqualified products from entering the next production process.

[0005] In view of this, the present invention provides a synchronous press-fitting system for a cross-shaft retaining ring, comprising:

[0006] The machine base has a support frame on the upper part and a base on the lower part. The support frame is equipped with a drive device. The drive device can be a hydraulic drive cylinder, a high-pressure servo cylinder, or other drive components that can apply vertical pressure. The drive device is located at the upper end of the support frame of the machine base and the drive end is facing downward.

[0007] The synchronous pressing assembly is mounted on the machine base and driven by the drive unit to press the snap rings onto the connection points of the two straight shafts and the corresponding universal joint forks in the cross shaft;

[0008] The pressure monitoring module, located within the synchronous pressing assembly, is used to detect the pressure applied to the workpiece during the pressing process.

[0009] The displacement monitoring module is installed in the synchronous pressing assembly to monitor the change in the distance between the pressing end face corresponding to the cross shaft during the pressing process;

[0010] The control module controls the operation of the drive device and receives data from the pressure monitoring module and displacement monitoring module. The control module includes a control cabinet, which contains electronic components such as controllers, control circuits, contactors, relays and frequency converters, and is also equipped with an external photoelectric alarm.

[0011] The control module uses data from the pressure monitoring module and the displacement monitoring module to determine whether the retaining ring has been pressed in, whether the retaining ring is properly pressed in, and whether multiple retaining rings have been pressed in.

[0012] Furthermore, the above technical solution also includes:

[0013] The workpiece positioning mechanism is mounted on the machine base and located on one side of the synchronous pressing assembly. It is used to support and position the universal joint fork.

[0014] The automatic circlip feeding mechanism provides circlips for the synchronous pressing assembly;

[0015] The workpiece positioning mechanism may include:

[0016] Support arm, used to support the universal joint fork;

[0017] A floating support frame is used to mount the support arm, and allows the support arm to float up and down along with the universal joint fork as the snap ring is pressed into the universal joint fork.

[0018] In the above technical solution, the synchronous pressing component further includes:

[0019] Two synchronous pressing tables are arranged symmetrically above and below each other, with one set on the base at the bottom of the machine base and the other set on the drive end of the drive device;

[0020] The synchronous pressing station includes:

[0021] Support base, connected to the base of the machine base or the drive end of the drive device;

[0022] A press-fit positioning cylinder is installed on the support base and is telescopically connected to the support base;

[0023] The internal pressure-fitting column is fixed at one end inside the support base and extends into the pressure-fitting positioning cylinder at the other end. The end away from the support base forms a protruding positioning part with a thickness less than the thickness of the retaining spring and an outer diameter less than the inner diameter of the retaining spring. The internal pressure-fitting column can extend out of the pressure-fitting positioning cylinder.

[0024] In the above technical solution, the pressure monitoring module further includes:

[0025] Several external pressure sensors are respectively installed on the upper and lower sides of the synchronous pressing assembly to detect the pressure changes applied to the retaining ring during the pressing process;

[0026] Several internal pressure sensors are respectively installed on the upper and lower sides of the synchronous pressing assembly and located inside the external pressure sensor to detect the pressure applied to the cross shaft end face during the pressing process.

[0027] Drive pressure detector, used to detect changes in air or hydraulic pressure within the drive unit;

[0028] The displacement monitoring module includes:

[0029] Several end face displacement sensors are respectively installed on the upper and lower sides of the synchronous pressing assembly, and are used to detect the change in the distance between the sensor and the cross shaft end face during the pressing process;

[0030] The external pressure sensors can be respectively set on the outer edge of one end of the positioning part of the internal pressure mounting column; the internal pressure sensors can be respectively set on the positioning part; and the end face displacement sensors can be respectively set on the inner side of the positioning part.

[0031] A pressing control method for a synchronous pressing system of a cross-shaft retaining ring includes:

[0032] S1, cross shaft installation, fixing the universal joint fork with cross shaft to be press-fitted with the snap ring; wherein the handling and installation of the universal joint fork can be completed by an external robotic arm, and there is an external conveyor belt with a cross shaft universal joint fork. The robotic arm picks up the universal joint fork with cross shaft to be fitted with the snap ring from the conveyor belt and places it on the workpiece positioning mechanism.

[0033] S2, snap ring press-fitting: The synchronous press-fitting assembly driven by the drive device performs synchronous press-fitting of snap rings at both ends of the universal joint fork where two coaxial shafts of the cross shaft are located.

[0034] S3, cross shaft position switching, flips the position of the universal joint fork with the cross shaft, and aligns the other two shafts without snap rings with the synchronous pressing assembly; the cross shaft position switching is completed by a robotic arm;

[0035] S4, secondary pressing of the retaining rings: the drive device drives the synchronous pressing assembly to synchronously press the retaining rings at both ends of the universal joint forks corresponding to the two coaxial shafts of the cross shaft; after pressing, the universal joint forks with the cross shaft are picked up by the robotic arm and placed on the conveyor belt.

[0036] Both S2 and S4 include a judgment step, in which the control module determines whether a retaining ring has been pressed into the universal joint fork and whether the retaining ring is properly installed, based on the data obtained by the pressure monitoring module and the displacement monitoring module.

[0037] In the above technical solution, furthermore,

[0038] The judgment steps include:

[0039] Step 1: Obtain the current pressure P within the drive unit before pressing. S Acquire the pressure and spacing data of the synchronous pressing assembly on the upper and lower end faces of the cross shaft; determine whether the data is within the initial threshold, and if so, proceed to the next step.

[0040] Step 2: During the pressing process, detect the pressure P of the current drive device. S1 Based on the pressure information, P is determined. S1 Does the pressure threshold P occur during the change process? 阈 If it enters, a pressure acquisition signal is triggered. After the signal is triggered, the pressure of the drive device and the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft are acquired.

[0041] Step 3: Analyze and compare the internal pressure of the drive device and the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft to determine whether a retaining ring has been pressed in, whether the retaining ring has been pressed in place, and whether multiple retaining rings have been pressed in.

[0042] In the above technical solution, further,

[0043] Step one involves obtaining the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing faces of the cross shaft, including:

[0044] The pressure P borne by the outer edge of the positioning part of the inner pressing column on the upper side of the synchronous pressing assembly is... AO1 ;

[0045] The pressure P borne by the positioning part of the inner pressing column on the upper side of the synchronous pressing assembly AI1 ;

[0046] The pressure P borne by the outer edge of the positioning part of the inner pressing column on the lower side of the synchronous pressing assembly is... BO1 ;

[0047] The pressure P borne by the positioning part of the inner pressing column on the lower side of the synchronous pressing assembly BI1 ;

[0048] The distance H between the positioning part of the inner pressing column on the upper side of the synchronous pressing assembly and the upper pressing end face of the cross shaft. A1 ;as well as

[0049] The distance H between the positioning part of the inner pressing column on the lower side of the synchronous pressing assembly and the lower pressing end face of the cross shaft. B1 .

[0050] In the above technical solution, further,

[0051] Step two involves obtaining the pressure data of the drive unit and the pressure and spacing data of the lower side of the synchronous pressing assembly and its relation to the cross shaft or retaining ring, including:

[0052] Obtain the pressure change trend P of the drive device St And obtain the peak pressure P from it. Smax According to P Smax Determine the pressure compensation coefficient ΔP;

[0053] Obtain the pressure variation trend P at one end of the positioning part of the inner pressing column on the upper side of the synchronous pressing assembly. AOt And obtain the maximum value P from it. AOmax and minimum value P AOmin ;

[0054] Obtain the pressure variation trend P of the positioning part of the inner pressing column on the upper side of the synchronous pressing assembly. AIt And obtain the maximum value P from it. AImax and minimum value P AImin ;

[0055] Obtain the pressure variation trend P at the outer edge of the positioning part of the inner pressing column on the lower side of the synchronous pressing assembly. BOt And obtain the maximum value P from it. BOmax and minimum value P BOmin ;

[0056] Obtain the pressure variation trend P borne by the positioning part of the inner pressing column on the lower side of the synchronous pressing assembly. BIt And obtain the maximum value P from it. BImax and minimum value P BImin ;

[0057] Obtain the trend of the distance H between the positioning part of the inner pressing column on the upper side of the synchronous pressing assembly and the upper pressing end face of the cross shaft. AT And obtain the maximum value H from it. Amax and minimum value H Amin ;

[0058] Obtain the trend of the distance H between the positioning part of the inner pressing column on the lower side of the synchronous pressing assembly and the lower pressing end face of the cross shaft. BT And obtain the maximum value H from it. Bmax and minimum value H Bmin .

[0059] In the above technical solution, further, in step two if

[0060] H Bmin ≤1 / 8△H and / or H Amin ≤1 / 8△H; and / or

[0061] H Bmin ≥△H and / or H Amin ≥△H; and / or

[0062] P AImax -P AImin >P AOmax -P AOmin and / or P BImax -P BImin >P BOmax -P BOmin ; and / or

[0063] P AOmax +△P>P AO△ and / or P BOmax +△P>P BO△ ;

[0064] If the pressing is abnormal, then the △H is the thickness of the retaining spring.

[0065] In the above technical solution, further, in step two if

[0066] H Amax -H Amin ≥H A1 *0.995 and / or H Bmax -H Bmin ≥H B1 *0.995;

[0067] Then, an abnormal pressing condition is determined, where P AO△ To obtain multiple P values ​​during system operation testing, after the external hydraulic or pneumatic drive source delivers the driving medium to the drive device at maximum power and undergoes multiple press-fit tests that meet the requirements. AOmax The average value of P. BO△ To obtain multiple P values ​​during system operation testing, after the external hydraulic or pneumatic drive source delivers the driving medium to the drive device at maximum power and undergoes multiple press-fit tests that meet the requirements. NOmax The average value.

[0068] The beneficial effects of this invention are as follows:

[0069] 1. The press-fitting system can press-fit two retaining rings in one press-fitting operation, so that a universal joint can complete the press-fitting of four retaining rings in only two press-fitting processes. Compared with manual positioning press-fitting, it is more efficient and convenient, thereby reducing the production cost of universal joints.

[0070] 2. Pressing control method: By acquiring the changes in end face pressure and spacing of the synchronous pressing assembly on the workpiece, the pressing status of the workpiece is determined, thus preventing unqualified workpieces from entering the next process. Attached Figure Description

[0071] Figure 1 This is a structural schematic diagram of the press-fitting system of the present invention from a first perspective;

[0072] Figure 2 This is a structural schematic diagram of the press-fitting system of the present invention from a second perspective;

[0073] Figure 3 This is a cross-sectional schematic diagram of the press-fitting system of the present invention;

[0074] Figure 4This is a partial structural schematic diagram of the press-fitting system of the present invention;

[0075] Figure 5 This is a partial cross-sectional schematic diagram of the press-fitting system of the present invention;

[0076] Figure 6 This is the logic control diagram of the press-fitting control method of the present invention;

[0077] Figure 7 This is a control diagram of the judgment steps in S2 and S4 of the press-fitting control method of the present invention;

[0078] The markings in the diagram are as follows: 1-base, 2-drive device, 3-workpiece positioning mechanism, 31-support arm, 32-floating seat, 33-middle support rod, 34-support plate, 35-floating spring, 4-automatic circlip feeding mechanism, 41-circlip guide frame, 41a-guide groove, 42-circlip mounting cylinder, 43-circlip feeding plate, 5-synchronous pressing table, 51-support seat, 51a-support plate, 51b-support column, 51c-inner elastic element, 52-pressing positioning cylinder, 52a-positioning cylinder body, 52b-pressing movable hole, 52c-limiting edge, 52d-outer guide part, 52e-inner pressing guide hole, 52f-feed groove, 53-inner pressing column, 6-external pressure sensor, 7-inner pressure sensor, 8-end face displacement sensor. Detailed Implementation

[0079] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0080] Example 1:

[0081] This embodiment provides a synchronous press-fitting system for a cross-shaft retaining ring, including:

[0082] The base 1 has a support frame on the upper part and a base on the lower part. The support frame is equipped with a drive device 2. The drive device 2 can be a hydraulic drive cylinder, a high-pressure servo cylinder or other drive components that can apply vertical pressure. The drive device 2 is located at the upper end of the support frame of the base 1 and the drive end is facing downward.

[0083] The synchronous pressing assembly is set on the base 1 and driven by the drive device 2 to press the snap rings onto the connection points of the two shafts in the cross shaft that are on the same straight line and the corresponding universal joint forks.

[0084] The pressure monitoring module, located within the synchronous pressing assembly, is used to detect the pressure applied to the workpiece during the pressing process.

[0085] The displacement monitoring module is installed in the synchronous pressing assembly to monitor the change in the distance between the pressing end face corresponding to the cross shaft during the pressing process;

[0086] The control module controls the operation of the drive device 2 and receives data from the pressure monitoring module and the displacement monitoring module. The control module includes a control cabinet, which contains electronic components such as controllers, control circuits, contactors, relays and frequency converters, and is also equipped with an external photoelectric alarm.

[0087] The control module uses data from the pressure monitoring module and the displacement monitoring module to determine whether the retaining ring has been pressed in, whether the retaining ring is properly pressed in, and whether multiple retaining rings have been pressed in.

[0088] The universal joint to be press-fitted includes a cross shaft with two pairs of shafts on the same straight line, and the two pairs of shafts are perpendicular to each other. Each pair of shafts is located inside a universal joint fork. The universal joint fork has two symmetrical connecting holes for the shafts to be installed. A retaining ring groove is formed inside the connecting hole. The two ends of a pair of shafts are installed in the corresponding connecting holes and then fixed by retaining rings.

[0089] In this technical solution, the synchronous pressing assembly simultaneously presses against the outer port of the connecting hole of the universal joint fork that is connected to one of the pairs of shafts on the cross shaft during pressing, and synchronously presses the retaining rings into the two side ports of the fixed universal joint fork. After being pressed in, the retaining rings enter the retaining ring groove in the connecting hole, thereby limiting the shaft of the cross shaft to the connecting hole of the universal joint fork. Since two retaining rings can be pressed in one pressing, four retaining rings can be pressed in one universal joint with only two pressing processes. This is more efficient and convenient than manual positioning pressing, thereby reducing the production cost of the universal joint.

[0090] The pressure monitoring module is used to monitor the pressure of the synchronous pressing assembly on the shaft and the end face of the snap ring during the pressing process. The control module judges whether the pressing of the snap ring meets the requirements by monitoring the pressure. The control module also monitors the distance between the synchronous pressing assembly and the shaft end face of the cross shaft by the displacement monitoring module. Combined with the data from the pressure monitoring module, the control module judges whether the snap ring is pressed into the connecting hole, whether the pressing of the snap ring is in place, and whether multiple snap rings are pressed in.

[0091] Example 2:

[0092] This embodiment provides a synchronous press-fitting system for a cross-shaft retaining ring, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0093] Also includes:

[0094] The workpiece positioning mechanism 3 is mounted on the machine base 1 and located on one side of the synchronous pressing assembly. It is used to support and position the universal joint fork.

[0095] Automatic circlip feeding mechanism 4 provides circlips for synchronous pressing components;

[0096] The workpiece positioning mechanism 3 may include:

[0097] Support arm 31 is used to support the universal joint fork;

[0098] A floating support frame is used to mount the support arm 31, and the support arm 31 can float up and down with the universal joint fork as the snap ring is pressed into the universal joint fork;

[0099] The floating support frame includes:

[0100] A floating seat 32 has a floating cavity formed therein. A floating reset component is provided in the floating cavity. A floating stage is provided in the floating cavity and on the floating reset component. The floating reset component can be a damper or buffer with compression reset composed of components such as springs.

[0101] The middle support rod 33 is fixed at one end to the floating platform and extends out to the floating seat 32 at the other end, and is fixedly connected to one end of the support arm 31 near the middle position.

[0102] The end support includes two support plates 34 and two floating springs 35. The two support plates 34 are symmetrically arranged, with one end of the support plate 34 fixed to the floating platform and the other end extending into a floating seat 32. 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 abut against the support plate 34 on the side where it is located. In order to prevent the floating springs 35 from shifting, limiting holes for limiting the floating springs 35 can be provided on both the support arm 31 and the support plate 34.

[0103] In this technical solution, the support arm 31 in the workpiece positioning mechanism 3 supports the universal joint fork during the pressing process, preventing displacement of the universal joint fork and resulting in incomplete pressing. The floating support frame provides good connection and support for the support arm 31, preventing offset of the support arm 31 and resulting in unsatisfactory pressing. The middle support rod 33 in the floating support frame is used for the installation and fixation of the support arm 31. The end support allows the support arm 31 to float circumferentially along the middle support rod 33, further reducing the probability of pressing misalignment caused by vibration or misalignment of the support arm 31 during the pressing process. The floating seat 32 allows the middle support rod 33 and the end support to float vertically, ensuring smooth pressing.

[0104] Example 3:

[0105] This embodiment provides a synchronous press-fitting system for a cross-shaft retaining ring, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0106] The synchronous pressing assembly includes:

[0107] Two synchronous pressing tables 5 are arranged symmetrically above and below each other, with one set on the base at the bottom of the machine base 1 and the other set on the drive end of the drive device 2;

[0108] The synchronous pressing station 5 includes:

[0109] Support base 51 is connected to the base of machine base 1 or the drive end of drive device 2;

[0110] The press-fit positioning cylinder 52 is mounted on the support base 51 and is telescopically connected to the support base 51;

[0111] The inner press-fit column 53 has one end fixed inside the support base 51 and the other end extending into the press-fit positioning cylinder 52. The end away from the support base 51 forms a protruding positioning part with a thickness less than the thickness of the snap ring and an outer diameter less than the inner diameter of the snap ring. The inner press-fit column 53 can extend out of the press-fit positioning cylinder 52.

[0112] Support base 51 includes:

[0113] The support plate 51a is fixedly connected to the base of the machine base 1 or the drive end of the drive device 2 by means of threads or bolts.

[0114] The support column 51b is fixedly mounted on the support plate 51a and has a coaxial and through support hole. The support hole forms a support edge at the end of the support column 51b away from the support plate 51a.

[0115] The internal elastic element 51c is coaxially arranged in the support hole and can be a high-strength spring or other elastic components.

[0116] Press-fit positioning cylinder 52 includes:

[0117] The positioning cylinder 52a can slide up and down and is coaxially mounted on the support hole, and one end extends out of the support hole, on which a through press-fitting movable hole 52b for the inner press-fitting column 53 to pass through is formed coaxially.

[0118] The limiting edge 52c is integrally formed on the outer wall of the positioning cylinder 52a, and is located inside the support hole and cooperates with the limiting edge of the support.

[0119] The outer guide part 52d is integrally formed on the outer wall of the positioning cylinder 52a at the end away from the support base 51;

[0120] The inner press-fit guide hole 52e is coaxially located at the end of the press-fit movable hole 52b and is at the same end as the outer guide part 52d. It is tapered outward from the connection of the press-fit movable hole 52b, and the minimum diameter of the tapered shape is greater than the outer diameter of the inner press-fit column 53.

[0121] The feed trough 52f is formed on the positioning cylinder 52a and communicates with the press-fitting movable hole 52b, and is located on the side near the inner press-fitting guide hole 52e;

[0122] The automatic circlip feeding mechanism 4 includes:

[0123] The snap ring guide frame 41 is fixedly connected to the positioning cylinder 52a, and a guide groove 41a connected to the feed groove 52f is formed on it;

[0124] The snap ring mounting sleeve 42 is fixedly mounted on the snap ring guide frame 41, and its bottom is connected to the guide groove 41a;

[0125] The snap ring feeding plate 43 is slidably set on the guide groove 41a, which can send the snap ring at the bottom of the snap ring mounting cylinder 42 through the guide groove 41a through the feed groove 52f into the press-fitting movable hole 52b.

[0126] One end of the inner elastic element 51c abuts against the limiting edge 52c, and the other end abuts against the support plate 51a; before pressing, the pressing positioning cylinders 52 of the two synchronous pressing tables 5 abut against the two ends of the universal joint fork with cross shaft, and then convey the snap ring into the pressing movable hole 52b through the feed groove 52f.

[0127] Its automatic circlip feeding mechanism 4 may also include:

[0128] The telescopic positioning rod is used to support the snap ring guide frame 41, so that the guide positioning frame can move up and down with the pressing positioning cylinder 52 during the pressing process;

[0129] The feeding cylinder is mounted on the snap ring guide frame 41 and drives the snap ring feeding plate 43 to move back and forth on the guide groove 41a.

[0130] In this technical solution, two synchronous pressing tables 5 are respectively installed on the drive end of the drive device 2 and the base of the machine base 1, so that the drive device 2 can simultaneously drive the two synchronous pressing tables 5 to synchronously press the retaining rings at both ends of the clamped universal joint fork. The support base 51 is used to position and support the pressing positioning cylinder 52 and the inner pressing column 53. The pressing positioning cylinder 52 provides a pressing channel for the retaining rings, and the inner pressing column 53 presses the retaining rings into the connecting holes of the universal joint fork during the pressing process. The drive end of the drive device 2 has two output strokes. During the first output stroke, the synchronous pressing table 5 clamps the universal joint fork; during the second output stroke, it presses the retaining rings.

[0131] The positioning part formed on the inner pressure mounting post 53 does not abut against the end face of the cross shaft when the snap ring is pressed into the connecting hole, but the outer edge of the positioning part abuts against the snap ring and presses the snap ring into the snap ring groove. At the same time as the snap ring is pressed into the snap ring groove, it abuts against the end face of the cross shaft.

[0132] The support plate 51a in the support base 51 can be easily connected to the base or the drive end of the drive device 2; while the support hole formed on the support column 51b provides installation space for the sliding of the press-fit positioning cylinder 52, and the inner elastic element 51c is used to abut against the inner press-fit column 53, so that the inner press-fit column 53 can slide elastically in the support hole.

[0133] The press-fitting movable hole 52b formed inside the positioning cylinder 52a of the press-fitting positioning cylinder 52 provides space for the inner press-fitting column 53 to pass through, and also provides sufficient movement space for the snap ring to enter and for the snap ring to be pressed into the connection hole of the universal joint fork; the cooperation between the limiting edge 52c and the support edge can prevent the press-fitting positioning cylinder 52 from disengaging from the support column 51b; the outer guide part 52d can better abut against the port of the universal joint fork connection hole and can ensure the strength of abutting against the connection hole, preventing the universal joint fork from shifting; the inner press-fitting guide hole 52e can allow the snap ring to retract to a certain extent during the process of the snap ring being pressed out of the press-fitting movable hole 52b, so that the snap ring can be more easily pressed into the connection hole; the feed groove 52f can provide a passage gap for the snap ring to enter the press-fitting movable hole 52b.

[0134] Driven by the drive device 2, the synchronous pressing platform 5 at one end is pressed down, causing the positioning cylinder 52a of the synchronous pressing platform 5 at both ends to slide into the support hole. This causes the inner pressing column 53 to abut against the retaining ring in the pressing movable hole 52b and press the retaining ring into the inner pressing guide hole 52e. Finally, the retaining ring is pressed out of the inner pressing guide hole 52e and then pressed into the retaining ring groove in the connecting hole at both ends of the universal joint fork.

[0135] The automatic circlip feeding mechanism 4 automatically feeds circlips into the pressing hole 52b during the pressing process, thus ensuring the automation of the pressing system. The circlip guide frame 41 ensures the stability of the connection between the automatic circlip feeding mechanism 4 and the pressing positioning cylinder 52, and provides guidance and positioning for the circlips to enter the pressing positioning cylinder 52. The circlip mounting cylinder 42 can hold several circlips stacked sequentially. The circlip feeding plate 43 is used to drive the circlips through the guide groove 41a and into the feed groove 52f. When the circlip feeding plate 43 passes under the circlip mounting cylinder 42, it pushes one circlip along the guide groove 41a into the feed groove 52f. At the same time, the circlip mounting cylinder 42 has positioning ribs that position the circlip opening. The positioning ribs prevent excessive deflection of the opening during the process of the circlip entering the pressing hole 52b and being pressed into the universal joint fork.

[0136] Furthermore, a telescopic positioning rod can be set to support the snap ring guide frame 41, ensuring the structural stability of the snap ring guide frame 41 during installation, allowing the snap ring guide frame 41 to elastically displace and reset along with the pressing positioning cylinder 52 during the pressing process; and the setting of the feeding cylinder can be used to drive the snap ring feeding plate 43 to automatically transport the snap rings to the feeding groove 52f, so as to ensure the automation of snap ring feeding in the pressing system.

[0137] Example 4:

[0138] This embodiment provides a synchronous press-fitting system for a cross-shaft retaining ring, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0139] The pressure monitoring module includes:

[0140] Several external pressure sensors 6 are respectively installed on the upper and lower sides of the synchronous pressing assembly to detect the pressure changes applied to the snap ring during the pressing process;

[0141] Several internal pressure sensors 7 are respectively installed on the upper and lower sides of the synchronous pressing assembly and located inside the external pressure sensor 6, and are used to detect the pressure applied to the cross shaft end face during the pressing process.

[0142] A drive pressure detector is used to detect changes in air or hydraulic pressure within the drive unit 2;

[0143] The displacement monitoring module includes:

[0144] Several end face displacement sensors 8 are respectively installed on the upper and lower sides of the synchronous pressing assembly, and are used to detect the change in the distance between them and the end face of the cross shaft during the pressing process;

[0145] The external pressure sensor 6 can be respectively set on the outer edge of one end of the internal pressure mounting column 53 with the positioning part; the internal pressure sensor 7 can be respectively set on the positioning part; the end face displacement sensor 8 can be respectively set on the inner side of the positioning part.

[0146] 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 applied to the retaining ring by the inner pressure post 53 during the press-fitting process. When the retaining ring is fully pressed into the retaining ring groove, it will abut against the end face of the cross shaft. At this point, the detected pressure should be at its maximum. Due to the positioning rib, the external pressure sensor 6 will not be positioned at the retaining ring opening, thus preventing pressure detection failure. The inner pressure sensor 7 is located on the positioning part. Since the thickness of the positioning part is less than the thickness of the retaining ring, it will not abut against the end face of the cross shaft during the retaining ring press-fitting process. Therefore, the pressure detected by the inner pressure sensor 7 will hardly change. The drive pressure monitor is used to monitor changes in the air or hydraulic pressure within the drive unit 2, thereby correcting the detected pressure in a timely manner when fluctuations occur in the hydraulic or air pressure, and better determining whether the detected pressure applied to the retaining ring is within the normal range. The displacement sensor is used to detect changes in the distance between the positioning part and the end face of the cross shaft during the press-fitting process, thereby determining whether a retaining ring has been pressed into the universal joint fork. To facilitate the placement of the external pressure sensor 6, internal pressure sensor 7, and end face displacement sensor 8, a mounting hole for the end face displacement sensor 8 can be provided on the positioning part, and recesses for the external pressure sensor 6 and internal pressure sensor 7 can be provided on the positioning part and its outer edge, respectively. The internal pressure mounting post 53 can be floatingly fixed to the support plate 51a by a hollow bolt. A through wiring hole can also be provided on the internal pressure mounting post 53 to facilitate the wiring of the external pressure sensor 6, internal pressure sensor 7, and end face displacement sensor 8. A flexible contact layer can be covered on the positioning part and its outer edge, covering the positioning groove but not obstructing the mounting hole. The combined thickness of the positioning part and the flexible contact layer is less than the thickness of the retaining spring, which can be 3 / 4 of the retaining spring thickness.

[0147] Example 5:

[0148] This embodiment provides a press-fit control method for a synchronous press-fitting system of a cross-shaft snap ring, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0149] Press-fit control methods include:

[0150] S1, cross shaft installation, fixing the universal joint fork with cross shaft to be press-fitted with the snap ring; wherein the handling and installation of the universal joint fork can be completed by an external robotic arm, and there is an external conveyor belt with a cross shaft universal joint fork. The robotic arm picks up the universal joint fork with cross shaft to be fitted with the snap ring from the conveyor belt and places it on the workpiece positioning mechanism 3.

[0151] S2, the snap ring is pressed in one step. The synchronous pressing assembly driven by the drive device 2 is used to synchronously press the snap rings at both ends of the universal joint fork where two coaxial shafts of the cross shaft are located.

[0152] S3, cross shaft position switching, flips the position of the universal joint fork with the cross shaft, and aligns the other two shafts without snap rings with the synchronous pressing assembly; the cross shaft position switching is completed by a robotic arm;

[0153] S4, Secondary pressing of the snap rings: Driven by the drive device 2, the synchronous pressing assembly is used to synchronously press the snap rings at both ends of the universal joint forks corresponding to the two coaxial shafts of the cross shaft. After pressing, the universal joint forks with the cross shaft are picked up by the robotic arm and placed on the conveyor belt.

[0154] Both S2 and S4 include a judgment step, in which the control module determines whether a retaining ring has been pressed into the universal joint fork and whether the retaining ring is properly installed, based on the data obtained by the pressure monitoring module and the displacement monitoring module.

[0155] In this technical solution, in step one, the drive end of the drive device 2 performs a first stroke displacement, thereby abutting the universal joint fork. The press-fit control method can complete the press-fitting of the retaining rings between the four shafts of the cross shaft and the corresponding universal joint forks through two press-fitting steps, thereby improving the press-fitting efficiency of the cross shaft retaining rings. At the same time, by adding a judgment step, it is possible to determine whether the retaining rings in the universal joint are misaligned after press-fitting and whether there are excess retaining rings pressed in. The press-fitting of the cross shaft retaining rings can be automated through the cooperation of an external conveyor belt and a robotic arm, thereby further reducing the labor cost of press-fitting.

[0156] Example 6:

[0157] 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.

[0158] The judgment steps include:

[0159] Step 1: Obtain the current pressure P within the drive unit 2 before pressing. S Acquire the pressure and spacing data of the synchronous pressing assembly on the upper and lower end faces of the cross shaft; determine whether the data is within the initial threshold, and if so, proceed to the next step.

[0160] Step 2: During the pressing process, detect the pressure P of the current drive device 2. S1 P is determined based on the pressure information. S1 Does the pressure threshold P occur during the change process? 阈 If it enters, a pressure acquisition signal is triggered. After the signal is triggered, the pressure of the drive device 2 and the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft are acquired.

[0161] Step 3: Analyze and compare the internal pressure of the drive device 2 and the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft to determine whether a retaining ring has been pressed in, whether the retaining ring has been pressed in place, and whether multiple retaining rings have been pressed in.

[0162] In this technical solution, the pressure P inside the current drive unit 2 is obtained before pressing. S The timing is after the synchronous pressing table 5 clamps the universal joint fork, during which the retaining ring has not yet entered the pressing positioning cylinder 52. By acquiring the pressure and spacing data of the synchronous pressing 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 judged as an initial abnormality of the equipment, and pressing work is not performed, and an alarm signal is sent out through the control module; if the pressure and spacing data are within the initial threshold, it is judged as an initial normality of the equipment, and the retaining ring is controlled to enter the pressing positioning cylinder 52. The initial threshold is a range value formed by multiple values ​​measured during the system retaining ring pressing and debugging process, and the initial threshold obtained by the test is different for different models of universal joints.

[0163] During the press-fitting process, if the air or hydraulic pressure in the drive unit 2 reaches the pressure threshold P... 阈 If the signal is received, it can be determined that the pressing work is in progress, thereby triggering a data signal. After the signal is triggered, the pressure of the drive device 2 and the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft are obtained. This allows the controller to avoid receiving signals continuously, reducing the load on the controller.

[0164] During the subsequent pressing process, the detected pressure and spacing data are analyzed, processed, and compared to more accurately determine the pressing status of the snap ring.

[0165] Example 7:

[0166] 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.

[0167] Step one involves obtaining the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing faces of the cross shaft, including:

[0168] The pressure P borne by the outer edge of the inner pressing column 53 with positioning part on the upper side of the synchronous pressing assembly is... AO1 ;

[0169] The pressure P borne by the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly AI1 ;

[0170] The pressure P borne by the outer edge of the inner pressing column 53 with positioning part on the lower side of the synchronous pressing assembly is... BO1 ;

[0171] The pressure P borne by the positioning part of the inner pressing column 53 on the lower side of the synchronous pressing assembly BI1 ;

[0172] The distance H between the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly and the upper pressing end face of the cross shaft A1 ;as well as

[0173] The distance H between the positioning part of the inner pressing column 53 on the lower side of the synchronous pressing assembly and the lower pressing end face of the cross shaft B1 .

[0174] In this technical solution, if H A1 and H B1 If all values ​​are less than the initial threshold, it can be determined that the drive device 2 is malfunctioning. For example, if the stroke of the first drive exceeds the preset value, and if the pressure P... AO1 P AI1 P BO1 and P BI1 Then continue with the subsequent work; if H A1 or H B1 If any value is less than the initial threshold, it can be preliminarily determined that there is no foreign object stuck in the upper internal pressure column 53 or the lower internal pressure column 53. At this time, the system will not perform subsequent work and will sound an alarm.

[0175] If H A1 Less than the initial threshold and pressure P AI1 If the value is less than the initial threshold, it can be preliminarily determined that the upper internal pressure column 53 has detached from the support base 51. At this time, the system will not perform any further work and will issue an alarm.

[0176] If H A1 H B1 P AI1 and P BI1 All are within the initial threshold, except for pressure P. AO1 and / or P BO1 If the value is not within the initial threshold, it can be determined that the upper external pressure sensor 6 or the lower external pressure sensor 6 is malfunctioning.

[0177] If H A1 and H B1 All are less than the initial threshold, and the pressure P AO1 or P BO1 If the value is greater than the initial threshold, it can be determined that a retaining ring has prematurely entered the press-fit positioning cylinder 52.

[0178] Example 8:

[0179] 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.

[0180] Step two involves obtaining the pressure data of the drive unit 2 and the pressure and spacing data of the lower side of the synchronous pressing assembly and the lower side against the cross shaft or retaining ring, including:

[0181] Obtain the pressure change trend P of drive device 2 St And obtain the peak pressure P from it. Smax According to P Smax Determine the pressure compensation coefficient ΔP;

[0182] Obtain the pressure variation trend P at the outer edge of the inner pressing column 53 with positioning part on the upper side of the synchronous pressing assembly. AOt And obtain the maximum value P from it. AOmax and minimum value P AOmin ;

[0183] Obtain the pressure variation trend P of the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly. AIt And obtain the maximum value P from it. AImax and minimum value P AImin ;

[0184] Obtain the pressure variation trend P at the outer edge of the inner pressing column 53 with positioning part on the lower side of the synchronous pressing assembly. BOt And obtain the maximum value P from it. BOmax and minimum value P BOmin ;

[0185] Obtain the pressure variation trend P of the positioning part of the inner pressing column 53 on the lower side of the synchronous pressing assembly. BIt And obtain the maximum value P from it. BImax and minimum value P BImin ;

[0186] Obtain the trend H of the distance variation between the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly and the upper pressing end face of the cross shaft. AT And obtain the maximum value H from it. Amax and minimum value H Amin ;

[0187] Obtain the trend H of the distance variation between the positioning part of the inner pressing column 53 on the lower side of the synchronous pressing assembly and the lower pressing end face of the cross shaft. BT And obtain the maximum value H from it. Bmax and minimum value H Bmin .

[0188] In this technical solution, the peak pressure P of the drive device 2 Sma That is, determine the air or hydraulic pressure fluctuation of the drive device 2 during the pressing process, and form a corresponding pressure compensation coefficient based on the fluctuation. If the pressure peak P Sma If the value is too high, then ΔP will be a positive number; if the peak pressure P... SmaIf the value is too low, ΔP will be negative. The pressure compensation coefficient is determined by changing the pressure inside the drive device 2 by altering the power of the external hydraulic or pneumatic drive source during equipment commissioning and operation, and by conducting multiple operational monitoring tests.

[0189] During the pressing process, the pressure variation trend P of the outer edge of the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly is obtained. AOt And obtain the maximum value P from it. AOmax and minimum value P AOmin During the press-fitting process, the outer edge of the upper inner press-fitting post 53 will abut against the retaining spring, pressing the retaining spring from the press-fitting movable hole 52b into the inner press-fitting guide hole 52e, and then sliding it out of the press-fitting guide hole into the connection hole of the universal joint fork, where it will abut 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 begins to increase, and is at its maximum under normal conditions when the retaining ring is pressed against the upper end of the cross shaft. The pressure change trend P during this period is obtained. AOt And obtain the maximum value P from it. AOmax and minimum value P AOmin This allows us to determine the press-fitting status of the retaining ring at the upper end of the cross shaft.

[0190] During the pressing process, the pressure change trend P borne by the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly is obtained. AIt And obtain the maximum value P from it. AImax and minimum value P AImin Because the thickness of the positioning part is less than the thickness of the retaining ring and the outer diameter of the positioning part is less than the inner diameter of the retaining ring, the upper positioning part will not abut against the end face of the retaining ring or the cross shaft during the press-fitting process. Therefore, the pressure change trend P of the positioning part is... AIt With P AI1 The values ​​should not fluctuate much. If there are excessive fluctuations, it can be judged that there is an abnormality in the pressing of the snap ring.

[0191] During the pressing process, the pressure variation trend P of the outer edge of the inner pressing column 53 with positioning part on the lower side of the synchronous pressing assembly is obtained. BOt And obtain the maximum value P from it. BOmax and minimum value P BOmi During the press-fitting process, the outer edge of the lower inner press-fitting post 53 will abut against the retaining spring, pressing the retaining spring from the press-fitting movable hole 52b into the inner press-fitting guide hole 52e, and then sliding it out of the press-fitting guide hole into the connection hole of the universal joint fork, where it will abut 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 BO1 The pressure begins to increase, and is at its maximum under normal conditions when the retaining ring is pressed against the upper end of the cross shaft. The pressure change trend P during this period is obtained. BOt And obtain the maximum value P from it. AOmax and minimum value P AOminThis allows us to determine the press-fitting status of the retaining ring at the lower end of the cross shaft.

[0192] The pressure change trend P borne by the positioning part of the inner pressing column 53 on the lower side of the synchronous pressing assembly during the pressing process. BIt And obtain the maximum value P from it. BImax and minimum value P BImi Because the thickness of the positioning part is less than the thickness of the retaining ring and the outer diameter of the positioning part is less than the inner diameter of the retaining ring, the lower positioning part will not abut against the end face of the retaining ring or the cross shaft during the press-fitting process. Therefore, the pressure change trend P of the positioning part is... BIt With P BI1 The values ​​should not fluctuate much. If there are excessive fluctuations, it can be judged that there is an abnormality in the pressing of the snap ring.

[0193] During the pressing process, the trend of the distance H between the positioning part of the inner pressing column 53 on the upper side of the synchronous pressing assembly and the pressing end face of the cross shaft is obtained. AT And obtain the maximum value H from it. Amax and minimum value H Amin ; and obtain the trend H of the distance change between the positioning part of the inner pressing column 53 on the lower side of the synchronous pressing assembly and the lower pressing end face of the cross shaft. BT And obtain the maximum value H from it. Bmax and minimum value H Bmin Because the thickness of the positioning part is less than the thickness of the retaining ring, H AT With H BT They will be from H respectively A1 and H B1 It gradually decreases until the distance is less than the thickness of the retaining ring; if H A1 and / or H B1 If the value is not within the threshold, the snap ring pressing is judged to be abnormal.

[0194] Example 9:

[0195] 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.

[0196] If in step three

[0197] H Bmin ≤1 / 8*△H and / or H Amin ≤1 / 8*△H; and / or

[0198] H Bmin ≥△H and / or H Amin ≥△H; and / or

[0199] P AImax -P AImin >P AOmax -P AOmin and / or PBImax -P BImin >P BOmax -P BOmin ; and / or

[0200] P AOmax +△P>P AO△ and / or P BOmax +△P>P BO△ ;

[0201] If the pressing is abnormal, then the △H is the thickness of the retaining spring.

[0202] In this technical solution, the data detected by the end face displacement sensor 8 is corrected during equipment debugging. That is, after the end face displacement sensor 8 is installed in the mounting hole on the end face of the positioning part, the data detected by the end face displacement sensor 8 is reset to zero by blocking the mounting hole.

[0203] Since the thickness of the positioning part is 3 / 4 of the thickness of the retaining spring, H is completed when the press-fit is finished. Bmin and H Amin The ideal value is 1 / 4 of ΔH, if H Bmin or H Amin If the value is less than 1 / 8 ΔH, it can be preliminarily determined that no retaining ring is pressed in at the upper or lower end of the cross shaft. If H... Bmin or H Amin When the value is greater than or equal to ΔH, it can be preliminarily determined that two or more retaining rings are pressed into the upper or lower end of the cross shaft.

[0204] Since the positioning parts at the upper and lower ends do 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 This indicates that the positioning part at the upper or lower end is in contact with the cross shaft, meaning that no retaining spring is pressed in at the corresponding position, and this is combined with H. Bmin or H Amin By comprehensively judging the values, it is possible to accurately determine whether a retaining ring has been pressed in. If P AImax -P AImin >P AOmax -P AOmin And H Amin If P ≤ 1 / 8△H, then it is determined that no snap ring is pressed in at the upper end; if P BImax -P BImin >P BOmax -P BOmin And H Bmin If the value is ≤1 / 8△H, it is determined that no retaining spring is pressed in at the lower end.

[0205] If multiple retaining rings are pressed in, the extension stroke of the drive end of the drive device 2 will be obstructed. At this time, the pressure of the outer edge of the positioning part on the retaining rings will increase. If H occurs... Bmin or H Amin ≥△H and P AOmax +△P>P AO△ and / or P BOmax +△P>P BO△ This indicates that multiple retaining rings have been pressed in.

[0206] Example 10:

[0207] 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.

[0208] If in step three

[0209] H Amax -H Amin ≥H A1 *0.995 and / or H Bmax -H Bmin ≥H B1 *0.995;

[0210] Then, an abnormal pressing condition is determined, where P AO△ To test multiple P values ​​obtained during system operation, after the external hydraulic or pneumatic drive source delivers the driving medium to drive device 2 at maximum power and undergoes multiple press-fitting operations that meet the requirements, the following steps are taken: AOmax The average value of P. BO△ To test multiple P values ​​obtained during system operation, after the external hydraulic or pneumatic drive source delivers the driving medium to drive device 2 at maximum power and undergoes multiple press-fitting operations that meet the requirements, the following steps are taken: NOmax The average value.

[0211] In this technical solution, H A1 and H B1 Within the initial threshold, H A1 *0.005 and H B1 *0.005 should be approximately equal to 1 / 4 ΔH; while if H Amax -H Amin ≥H A1 *0.995 and / or H Bmax -H Bmin ≥H B1 If the value is *0.995, it can be preliminarily determined that the movement distance of the upper or lower positioning part is too large, possibly due to the absence of a retaining spring being pressed in, combined with H Bmin and H Amin The relationship with ΔH is used to comprehensively determine whether a retaining ring has been pressed in, thus ensuring the accuracy of the judgment.AOmax +△P>P AO△ and / or P BOmax +△P>P BO△ This allows for a preliminary determination that multiple retaining rings have been pressed in, which, combined with H... Bmin or H Amin The relationship with △H allows for a more accurate judgment.

[0212] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A pressing control method for a synchronous pressing system of a cross-shaft retaining ring, the pressing system comprising: A base (1) with a drive unit (2) on it; The synchronous pressing assembly is set on the base (1) and driven by the drive device (2) to press the snap ring. The synchronous pressing assembly includes two synchronous pressing tables (5) with inner pressing columns (53), and each inner pressing column (53) has a positioning part (53a) at one end. Pressure monitoring module; Displacement monitoring module; Control module; The control module determines whether the retaining ring has been pressed in and whether the retaining ring is properly pressed in based on the data monitored by the pressure monitoring module and the displacement monitoring module. The control method is characterized by: S1, cross shaft installation; fix the universal joint fork with cross shaft to be press-fitted with the snap ring; S2, snap ring press-fitting in one go; the synchronous pressing assembly driven by the drive device (2) performs synchronous pressing of snap rings on both ends of the universal joint fork at the location of the two coaxial shafts of the cross shaft. S3, cross shaft position switching; flip the position of the universal joint fork with the cross shaft, and align the other two shafts without snap rings with the synchronous pressing assembly; the cross shaft position switching is completed by a robotic arm; S4, secondary pressing of the snap ring; the synchronous pressing assembly is driven by the drive device (2) to synchronously press the snap rings at both ends of the universal joint fork corresponding to the other two coaxial shafts of the cross shaft. Both S2 and S4 include a judgment step, in which the control module determines whether a retaining ring is pressed into the universal joint fork and whether the retaining ring is pressed into place based on the data obtained by the pressure monitoring module and the displacement monitoring module. The determination steps include: Step 1: Obtain the current pressure P of the drive unit (2) before pressing. S Acquire the pressure and spacing data of the synchronous pressing assembly on the upper and lower end faces of the cross shaft; determine whether the data is within the initial threshold, and if so, proceed to the next step. Step 2: During the pressing process, detect the pressure P of the current drive device (2). S1 Based on the pressure information, P is determined. S1 Does the pressure threshold P occur during the change process? 阈 If it enters, a pressure acquisition signal is triggered. After the signal is triggered, the pressure of the drive device (2) and the pressure and spacing data of the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft are acquired. Step 3: Analyze and compare the pressure and spacing data of the drive device (2) and the synchronous pressing assembly on the upper and lower pressing end faces of the cross shaft to determine whether a retaining ring is pressed in, whether the retaining ring is pressed in place, and whether multiple retaining rings are pressed in. Step two involves obtaining the pressure data of the drive unit (2) and the pressure and spacing data of both sides of the synchronous pressing assembly against the cross shaft or retaining ring, including: Obtain the pressure change trend P of the drive device (2) St And obtain the peak pressure P from it. Smax According to P Smax Determine the pressure compensation coefficient ΔP; The pressure variation trend P of the outer edge of the inner pressing column (53) with positioning part (53a) on the upper side of the synchronous pressing assembly is obtained. AOt And obtain the maximum value P from it. AOmax and minimum value P AOmin ; The pressure variation trend P of the positioning part (53a) of the inner pressing column (53) on the upper side of the synchronous pressing assembly is obtained. AIt And obtain the maximum value P from it. AImax and minimum value P AImin ; The pressure variation trend P of the outer edge of the inner pressing column (53) with positioning part (53a) on the lower side of the synchronous pressing assembly is obtained. BOt And obtain the maximum value P from it. BOmax and minimum value P BOmin ; The pressure variation trend P of the positioning part (53a) of the inner pressing column (53) on the lower side of the synchronous pressing assembly is obtained. BIt And obtain the maximum value P from it. BImax and minimum value P BImin ; The trend of the distance H between the positioning part (53a) of the inner pressing column (53) on the upper side of the synchronous pressing assembly and the upper pressing end face of the cross shaft is obtained. AT And obtain the maximum value H from it. Amax and minimum value H Amin ; The trend of the distance H between the positioning part (53a) of the inner pressing column (53) on the lower side of the synchronous pressing assembly and the lower pressing end face of the cross shaft is obtained. BT And obtain the maximum value H from it. Bmax and minimum value H Bmin .

2. The press-fitting control method according to claim 1, characterized in that, The pressure monitoring module is installed in the synchronous pressing assembly to detect the pressure applied to the workpiece during the pressing process; The displacement monitoring module is installed in the synchronous pressing assembly to monitor the change in the distance between the module and the workpiece pressing surface during the pressing process. The control module controls the operation of the drive device (2) and receives data monitored by the pressure monitoring module and the displacement monitoring module.

3. The press-fitting control method according to claim 1, characterized in that, Also includes: The workpiece positioning mechanism (3) is mounted on the machine base (1); Automatic circlip feeding mechanism (4) provides circlips for synchronous pressing components.

4. The press-fitting control method according to claim 1, characterized in that, Two synchronous pressing tables (5) are arranged symmetrically above and below each other, with one set at the bottom of the base (1) and the other set at the drive end of the drive device (2); The synchronous pressing station (5) further includes: The support base (51) is connected to the drive end of the base (1) or the drive device (2); A press-fit positioning cylinder (52) is set on a support base (51) and is telescopically connected to the support base (51); One end of the inner press-fit column (53) is fixed inside the support base (51), and the other end extends into the press-fit positioning cylinder (52); the positioning part (53a) is formed at the end of the inner press-fit column (53) away from the support base (51) and its thickness is less than the thickness of the retaining spring.

5. The press-fitting control method according to any one of claims 1-4, characterized in that, The pressure monitoring module includes: Several external pressure sensors (6) are respectively installed on the upper and lower sides of the synchronous pressing assembly to detect the pressure applied to the snap ring during the pressing process; Several internal pressure sensors (7) are respectively set on the upper and lower sides of the synchronous pressing assembly and located inside the external pressure sensor (6) to detect the pressure applied to the cross shaft end face during the pressing process. A drive pressure detector is used to detect the pressure of the drive device (2); The displacement monitoring module includes: Several end face displacement sensors (8) are respectively set on the upper and lower sides of the synchronous pressing assembly, and are used to detect the change in the distance between them and the cross shaft during the pressing process.

6. The press-fitting control method according to claim 5, characterized in that, If in step three 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 the pressing is judged to be abnormal, where △H is the thickness of the retaining spring; P AO△ To obtain multiple P values ​​during system operation testing, after the external hydraulic or pneumatic drive source delivers the driving medium to the drive device at maximum power and undergoes multiple press-fit tests that meet the requirements. AOmax The average value of P; where P BO△ To obtain multiple P values ​​during system operation testing, after the external hydraulic or pneumatic drive source delivers the driving medium to the drive device at maximum power and undergoes multiple press-fit tests that meet the requirements. BOmax The average value.

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