Automatic steel ball loading equipment and method for multi-layer self-circulation raceway of electric circulation ball steering gear

Abstract

The invention discloses automatic steel ball loading equipment and method for a multi-layer self-circulation raceway of an electric circulating ball steering gear, and relates to the technical field of steering gear steel ball assembly.The equipment comprises an equipment supporting table, a steel ball feeding assembly, a steel ball guiding system, a workpiece shimmy mechanism and a steel ball loading assembly; automatic, quantitative and layered assembly of the steel balls of the multilayer independent self-circulation raceway nut in the electric steering gear can be achieved. In the assembling process, the number and the assembling state of the steel balls are detected through an inductor, accurate control over lifting and rotating of the screw is achieved in cooperation with a servo driving system, and it is guaranteed that the steel balls smoothly enter a roller path through the spiral guide groove structure and the shimmy function of the material guiding system. The automatic assembling device has the advantages of being high in assembling efficiency and precision, effectively solves the problems that in the prior art, ball assembling efficiency is low, errors are large, and the automation level is insufficient, remarkably improves product quality and production consistency, and is suitable for automatic assembling of nuts of multiple specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of ball assembly for steering gears, and specifically to an automatic ball loading device and method for multi-layer self-circulating raceways of an electric recirculating ball steering gear. Background Technique

[0002] At present, the recirculating ball steering gear, as a key component in the automotive steering system, is widely used in various commercial vehicles and high-end passenger cars. Among them, with the development of the electrification trend, more and more electric steering systems adopt nut assemblies with multi-layer self-circulating raceway structures to achieve higher load capacity and smoother rolling performance.

[0003] In this structure, multiple independent self-circulating raceways are provided inside the nut, and each raceway realizes the independent circulation of the balls within this layer through a reverser provided at the notch of the nut. Although this design has significant advantages in terms of structural performance, it also poses challenges in the assembly process.

[0004] Currently, the ball assembly for this type of nut mainly relies on manual operation or semi-automatic equipment. The common method is to use high-viscosity grease to manually stick the balls into the raceways one by one. This method has the following defects: Low operation efficiency: It requires repeated manual positioning and filling, with high labor intensity, and the assembly efficiency cannot meet the requirements of mass production; Poor consistency: It is difficult to accurately control the number of balls loaded, and it is easy to have missing or overloading, which affects the rolling performance of the nut; Insufficient reliability: The balls are prone to jamming or jumping during the loading process, especially more obvious in the assembly of deep raceways or multi-layer raceways; Poor adaptability: Existing assembly equipment is mostly designed for single-layer or continuous raceway structures and is difficult to meet the special requirements of multi-layer independent raceway structures.

[0005] In summary, the existing technology cannot achieve rapid, accurate, and automatic assembly of the balls in the multi-layer self-circulating raceway structure of the electric recirculating ball steering gear. Therefore, there is an urgent need for an automatic ball loading device and method with reasonable structure, high assembly efficiency, and strong reliability to solve the existing problems and improve production efficiency and product consistency. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the existing defects and provide an automatic ball loading device and method for multi-layer self-circulating raceways of an electric recirculating ball steering gear, which effectively solves the problems of low ball loading efficiency, large error, and insufficient automation level in the existing technology, significantly improves product quality and production consistency, is applicable to the automatic assembly of nuts of multiple specifications, has broad application prospects and industrialization value, and can effectively solve the problems in the background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an electric circulating ball steering gear multi-layer self-circulating roller automatic steel ball loading device and method, comprising an equipment support platform, a steel ball guiding system, a workpiece swing mechanism and a steel ball loading assembly, the workpiece swing mechanism and the steel ball loading assembly are respectively arranged on the upper surface and the lower surface of the equipment support platform, the workpiece swing mechanism comprises a swing frame, a swing cylinder, a fixed frame and a positioning base, the fixed frame and the positioning base are respectively fixed to the upper surface of the equipment support platform by screws, the lower end of the swing frame is slidably connected to the linear rail on one side of the positioning base, one end of the swing cylinder is fixed to the fixed frame, and the other end of the swing cylinder is connected to the swing frame through a connecting block. The swing cylinder pulls the swing frame to translate back and forth in the direction of the linear rail to realize the swing function. The purpose of this function is to realize the smooth loading of a certain number of steel balls in the single-layer raceway of the nut through the swing, effectively solving the problem of blocking the steel balls behind after loading several steel balls, and improving the loading efficiency. A positioning groove is arranged on the positioning base, and the positioning groove is used to position the nut to be installed. A round hole is arranged at the bottom of the positioning groove, and the round hole corresponds to the upper end of the screw. The steel ball guiding system includes an upper guide rod and a lower guide rod. The upper end of the lower guide rod is arranged as an inclined surface, and a spiral guide groove is arranged on the inclined surface. The outlet of the spiral guide groove faces the inner raceway of the nut in a tangential direction. The upper guide rod is slidably connected with the swing frame, so as to realize the transmission of the swing force. A through feed hole is arranged on the upper guide rod, and the lower port of the feed hole corresponds to the inlet of the spiral guide groove. A detection hole is arranged on one side of the feed hole, and a second sensor is installed in the detection hole. The function of the second sensor is to detect whether the steel ball in the spiral guide groove completely flows into the inner raceway of the nut. The upper end of the feed hole is connected with a steel ball feeding assembly through a feed hose. The steel ball loading assembly comprises a servo reduction motor, a workpiece connecting shaft, a bearing seat, a synchronous belt and a lifting support frame. The servo reduction motor and the bearing seat are respectively installed on the lifting support frame, and the lower end of the workpiece connecting shaft is installed in the bearing seat. The upper end of the workpiece connecting shaft is provided with a spline groove connected to the screw, the lower end of the screw is installed in the spline groove, and the upper end of the screw is inserted into the round hole. The spline groove plays a role in positioning and power transmission. The lower end of the lower guide rod is provided with a positioning hole, and the positioning hole corresponds to the upper end of the screw. When working, the lower guide rod is inserted into the nut and is sleeved on the upper end of the screw through the positioning hole to realize the positioning of the screw and nut to be installed, and then the steel ball is guided and loaded through the guide rod. The servo reduction motor is connected to the workpiece connecting shaft through the synchronous belt. The reduction motor can drive the workpiece connecting shaft to rotate, and then drive the screw to rotate, so as to realize the assembly of the screw and the nut.

[0008] Further, the steel ball feeding assembly includes a feeding support disc, a steel ball cylinder, a feeding support and a material distributing and collecting assembly. The steel ball cylinders are uniformly arranged along the circumferential direction of the support disc. The material distributing and collecting assembly includes a material distributing disc and a confluence disc. The material distributing disc is arranged between the feeding support disc and the confluence disc. Quantitative blocks are arranged in the circumferential direction of the material distributing disc. Quantitative channels are arranged on the quantitative blocks. The steel ball cylinders are communicated with the quantitative channels. The height of the quantitative blocks is a fixed value, so that a fixed number of steel balls can be stored. An inductor 1 is arranged on the side surface of the quantitative block, and the inductor 1 corresponds to the inside of the quantitative channel. When the number of steel balls reaches a certain amount, the inductor 1 is used to detect the steel balls. Triggered by the signal of the inductor 1, a quantitative cylinder is arranged outside the material distributing disc. The telescopic end of the quantitative cylinder is fixedly connected with the quantitative block. The quantitative block is slidably connected with the material distributing disc. The quantitative channel is connected with the feeding hose through the confluence disc. When the quantitative cylinder acts to pull the quantitative block to move outwards, the final position of the movement just aligns with the opening position on the confluence disc. Then, the fixed number of steel balls in the quantitative block enter the feeding hose through the confluence disc.

[0009] Further, a blowing support is arranged at the lower end of the steel ball cylinder. The blowing support is fixed on the feeding support disc. A steel ball channel communicated with the lower end hole of the steel ball cylinder is arranged at the center of the blowing support. The steel ball channel is communicated with the quantitative channel. An annular air chamber is arranged around the steel ball channel. A blowing air duct is arranged on the side surface of the blowing support. The blowing air duct is communicated with the annular air chamber. An air gap communicated with the annular air chamber is arranged in the circumferential direction of the lower end hole of the steel ball cylinder. The air gap enables the air flow to go upwards, so that the steel balls can smoothly pass through the steel ball channel. The outer end of the blowing air duct is connected with an air pipe joint, and the air pipe joint is communicated with an external air source. Action principle: When steel balls are loaded into the steel ball cylinder, the air source is introduced through the air pipe joint. The air flow enters the annular air chamber through the blowing air duct, and then passes upwards through the air gap. The air flow goes upwards, so that the steel balls can smoothly pass through the steel ball channel.

[0010] Further, an upper support is arranged on the upper surface of the equipment support table. The confluence disc is fixed on the upper support. The confluence disc, the material distributing disc and the feeding support disc are all arranged in a circular structure.

[0011] Further, a total steel ball channel is arranged at the center of the confluence disc. Steel ball sub-channels are arranged in the internal circumferential direction of the confluence disc. The lower ends of the steel ball sub-channels are communicated with the total steel ball channel. The total steel ball channel is connected with the feeding hose. The numbers of the steel ball sub-channels, the quantitative channels and the steel ball channels are the same, and the steel ball channel is communicated with the steel ball sub-channels through the quantitative channel.

[0012] Principle description of the material distribution plate and the confluence plate: The blanking hole of the steel ball cylinder is aligned with the quantitative channel of the quantitative block. The height of the quantitative block is a fixed value. When a certain number of steel balls are reached, the signal of sensor 1 is triggered; the quantitative cylinder acts to pull the quantitative block outward, and the final position of the movement is just aligned with the steel ball distribution channel position of the material distribution plate. Then, a fixed number of steel balls in the quantitative block flow into the steel ball main channel through the steel ball distribution channel.

[0013] Further, a vertical frame is fixed on the lower surface of the equipment support platform. A lead screw module is arranged on the side surface of the vertical frame. The lifting support frame is fixedly connected to the slider of the lead screw module. A servo reduction motor 1 is arranged on the other side of the vertical frame. The servo reduction motor 1 is connected to the lead screw module through a synchronous belt 1. The servo reduction motor 1 can drive the lifting support frame to lift through the lead screw module. The lifting drive mode of this lifting support frame can also adopt direct drive by a telescopic rod.

[0014] The rotational motions of servo reduction motor 1 and servo reduction motor 2 are transmitted to the workpiece connecting shaft through synchronous belts. The up-and-down movement of the workpiece connecting shaft is controlled by servo reduction motor 1, and the rotational movement of the workpiece connecting shaft is controlled by servo reduction motor 2. The workpiece connecting shaft is connected to the screw to be assembled and converts into the precise up-and-down and rotational movements of the screw.

[0015] Further, a guide groove is arranged in the vertical direction of the swing vibration frame. A slider is arranged on the side surface of the upper material guiding rod. The upper material guiding rod is slidably connected to the guide groove through the slider. This guide groove plays a role in guiding the material guiding rod and ensures the fixation of the position in the vertical direction. A threaded hole is arranged on the inclined surface of the lower material guiding rod. The lower material guiding rod and the upper material guiding rod are fixedly connected to each other through bolts.

[0016] Method for automatically loading steel balls into the multi-layer self-circulating raceway of an electric recirculating ball steering gear, including the following steps: Step 1: Pre-assembly preparation of steel balls, nuts, and screws. Batch load the steel balls into the steel ball cylinder respectively. Place the nut to be assembled into the positioning groove of the workpiece swing vibration mechanism. Insert the lower end of the screw to be assembled into the workpiece connecting shaft of the steel ball loading assembly. The lower end of the lower material guiding rod is sleeved on the screw, and then press the start button; Step 2: Start the steel ball feeding assembly. The steel balls pass through the steel ball cylinder and enter the quantitative block through the steel ball channel. A fixed number of steel balls are screened and determined by the quantitative block. When sensor 1 senses that the number of steel balls loaded into the quantitative block meets the requirements, the quantitative cylinder pulls the quantitative block, and a fixed number of steel balls fall into the confluence plate; Step 3: Start the steel ball loading system. While the steel ball feeding assembly is started, servo reduction motor 1 drives the screw to be loaded to rise, and the outlet of the spiral guide groove of the steel ball guiding system is aligned with the nut raceway; Step 4: The steel balls converge from the steel ball distribution channels to the steel ball main channel. The steel ball main channel falls into the blanking hole through the feeding hose, then falls into the spiral guide groove, and flows into the nut raceway in a tangential direction; Step 5: Sensor 2 on the steel ball guiding system detects whether the steel balls in the spiral guide groove have completely flowed into the inner raceway of the nut; Step 6: If Sensor 2 detects that the steel balls have completely flowed into the nut raceway, Servo Reduction Motor 1 and Servo Reduction Motor 2 are started, driving the screw rod to rise and rotate, so that the discharge port of the spiral guide groove of the steel ball guiding system faces the second raceway of the nut; Step 7: If Sensor 2 detects that the steel balls have not completely flowed into the nut raceway, the workpiece oscillation mechanism is activated, and the oscillation cylinder pulls the oscillation frame to reciprocate. The guide groove of the oscillation frame drives the steel ball guiding system to perform reciprocating oscillation to ensure that the steel balls completely flow into the raceway; Step 8: Repeat Step 6 and Step 7 until the steel balls in each layer of the nut raceway are completely assembled.

[0017] Features of the multi-layer self-circulating raceway nut of the electric recirculating ball steering gear: The inner raceway of the nut is different from the traditional spiral continuous raceway. The way the steel balls circulate in the nut is different. Instead, it is a multi-layer independent self-circulating raceway, as shown in Attachment Figure 14 , Attachment Figure 15 , Attachment Figure 16 and Attachment Figure 17 ; By installing a reverser at the nut notch, separate self-circulation of each layer of the independent raceway is realized. Assembly process: A fixed number of steel balls are loaded into each raceway of the screw rod and the nut, so that the number of steel balls assembled in each raceway is the same, and there is no missing or overloading.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. By introducing an automated steel ball quantitative supply system and a multi-station collaborative mechanism, the present invention realizes the full-automatic steel ball assembly of the multi-layer self-circulating raceway nut in the electric recirculating ball steering gear; the steel balls are sequentially transported, screened and quantitatively dropped into the assembly position through the steel ball cylinder, the material distribution and collecting system and the material guiding structure, and the whole process is automatically realized; compared with the traditional manual operation method, the assembly efficiency is significantly improved, the assembly time and labor cost are reduced, and it has good adaptability to batch production; at the same time, the automatic assembly process reduces the interference of human factors, improves the product consistency and standardization level, and ensures the stable product quality.

[0019] 2. By setting up a steel ball counting mechanism formed by the quantitative block and Sensor 1, and Sensor 2 monitoring the ball loading state in the guide groove, accurate control of the steel ball quantity and position feedback can be achieved before the assembly of each layer of the raceway, ensuring that each raceway can obtain the set number of steel balls; the outlet of the spiral guide groove in the material guiding rod system faces the nut raceway in a tangential manner, forming a clever guiding angle, greatly improving the smoothness of steel ball introduction; this design effectively prevents phenomena such as overloading, missing loading, and ball jamming, ensures the independent integrity of each raceway function, and improves the operating accuracy of nut assembly and the subsequent performance stability.

[0020] 3. The present invention is particularly suitable for the structural requirements of multi-layer self-circulating raceway nuts. By controlling the lifting of the screw with servo reduction motor 1 and its rotation with servo reduction motor 2, the steel balls are assembled layer by layer. When the feeding system jams the balls, the pendulum vibration frame automatically starts the pendulum vibration function, and the feeding rod is vibrated by the reciprocating motion of the cylinder, effectively helping the steel balls enter the raceway and improving the adaptability and assembly success rate under complex structures. In addition, the feeding rod adopts a slide rail for guiding and positioning holes for design, with strong structural rigidity and high assembly stability, making the overall system operation more reliable and applicable to a variety of product platforms.

[0021] 4. The present invention adopts a modular design in structure, and each functional component such as the steel ball feeding system, the guiding mechanism, the workpiece positioning and rotating mechanism can be independently disassembled, assembled and maintained, facilitating quick replacement and adaptation to steering gear components of different sizes and specifications. The overall equipment can be used as a station in the automatic assembly line of the steering gear assembly, realizing the reduction of manual intervention, and having high popularization and application value and market competition potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the overall front view structural schematic diagram of the present invention; Figure 2 is the overall axonometric drawing of the present invention; Figure 3 is the structural schematic diagram of the steel ball cylinder of the present invention; Figure 4 is of the present invention Figure 3 the enlarged structural schematic diagram at A of; Figure 5 is the structural schematic diagram of the material distribution and collecting component of the present invention; Figure 6 is the internal structural schematic diagram of the collecting tray of the present invention; Figure 7 is the axonometric drawing of the collecting tray of the present invention; Figure 8 is the axonometric drawing of the workpiece pendulum vibration mechanism of the present invention; Figure 9 is the front view structural schematic diagram of the steel ball loading component of the present invention; Figure 10 is the axonometric drawing of the steel ball loading component of the present invention; Figure 11 is the structural schematic diagram of the steel ball guiding system of the present invention; Figure 12 is the internal structural schematic diagram of the feeding rod of the present invention; Figure 13 is the structural schematic diagram of the installation of sensor 2 on the upper feeding rod of the present invention; Figure 14 is the structural schematic diagram of the nut to be installed of the present invention; Figure 15 is the internal structural schematic diagram of the nut of the present invention; Figure 16 Schematic diagram of the installation side of the reverser of the nut of the present invention; Figure 17 Schematic diagram of the screw structure of the present invention.

[0023] In the figure: 1 steel ball feeding assembly, 2 steel ball guiding system, 3 workpiece swinging mechanism, 4 steel ball loading assembly, 5 blanking hose, 6 blanking support disc, 7 upper bracket, 8 equipment support table, 9 air pipe joint, 10 steel ball cylinder, 11 air blowing support, 12 air blowing air passage, 13 air gap, 14 steel ball passage, 15 circumferential air chamber, 16 material distribution disc, 17 metering block, 18 metering cylinder, 19 sensor 1, 20 manifold, 21 total steel ball passage, 22 steel ball branch passage, 23 swinging frame, 24 guiding groove, 25 swinging cylinder, 26 fixing frame, 27 positioning base, 28 positioning groove, 29 linear guide, 30 servo reduction motor 2, 31 vertical frame, 32 servo reduction motor 1, 33 synchronous belt 1, 34 workpiece connecting shaft, 35 bearing seat, 36 synchronous belt 2, 37 lifting support frame, 38 upper feeding rod, 39 lower feeding rod, 40 spiral guide groove, 41 blanking hole, 42 detection hole, 43 threaded hole, 44 positioning hole, 45 round hole, 46 slider, 47 lead screw module, 48 metering channel, 48 sensor 2. Specific embodiments

[0024] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0025] Please refer to Figure 1-17, the present invention provides a technical solution: an automatic steel ball loading device and method for a multi-layer self-circulating raceway of an electric recirculating ball steering gear, including an equipment support table 8, a steel ball guiding system 2, a workpiece swinging mechanism 3 and a steel ball loading assembly 4. The workpiece swinging mechanism 3 and the steel ball loading assembly 4 are respectively arranged on the upper surface and the lower surface of the equipment support table 8. The workpiece swinging mechanism 3 includes a swinging frame 23, a swinging cylinder 25, a fixed frame 26 and a positioning base 27. The fixed frame 26 and the positioning base 27 are respectively fixed on the upper surface of the equipment support table 8 by screws. The lower end of the swinging frame 23 is slidably connected to the linear guide 29 on one side of the positioning base 27. One end of the swinging cylinder 25 is fixed on the fixed frame 26, and the other end is connected to the swinging frame 23 through a connecting block. The steel ball guiding system 2 includes an upper guide rod 38 and a lower guide rod 39. The upper end of the lower guide rod 39 is provided with an inclined surface, and a spiral guide groove 40 is arranged on the inclined surface. The outlet is tangentially opposite to the inner raceway of the nut. The upper guide rod 38 is slidably connected to the swinging frame 23. The upper guide rod 38 is provided with a material discharging hole 41 and a detection hole 42, and an inductor two 48 is installed in the detection hole 42. The steel ball loading assembly 4 includes a servo reduction motor two 30, a workpiece connecting shaft 34, a bearing seat 35, a synchronous belt two 36 and a lifting support frame 37. The workpiece connecting shaft 34 is provided with a spline groove. Its lower end is installed in the bearing seat 35, and its upper end is connected to a screw rod and passes through a circular hole 45. The lower end of the lower guide rod 39 is provided with a positioning hole 44 for mating with the upper end of the screw rod.

[0026] The device realizes the installation of each module structure and provides a support base through the equipment support table 8. The swinging frame 23 in the workpiece swinging mechanism 3 reciprocates along the direction of the linear guide 29 under the drive of the swinging cylinder 25, drives the steel ball guiding system 2 to complete the horizontal swinging action, realizes the guiding vibration, and enables the steel balls to smoothly enter the nut raceway. The nut is limited by the positioning groove 28, and the circular hole 45 below it is used to align with the screw rod. The upper guide rod 38 of the steel ball guiding system 2 is slidably connected to the swinging frame 23, and effectively transmits the swinging motion to the guide rod. The steel balls are fed into the material discharging hole 41 by the upper steel ball feeding assembly 1 at the upper part, and then fall into the inclined surface spiral guide groove 40. The outlet of the spiral guide groove is tangentially aligned with the nut raceway, ensuring that the guiding angle of the steel balls is consistent with the direction of the raceway, and improving the guiding efficiency and accuracy. The inductor two 48 is used to monitor in real time whether the steel balls flow into the screw channel and control the assembly rhythm. The steel ball loading assembly 4 realizes the precise rotation of the screw rod through the transmission cooperation between the servo reduction motor two 30 and the workpiece connecting shaft 34, and completes the steel ball assembly and propulsion actions. The spline groove realizes the positioning and power transmission of the screw rod.

[0027] Through the collaborative action of the swing mechanism and the material guiding structure, the present invention solves the problems of steel ball jamming or partial non-entry into the track during the traditional manual ball loading process, improving the automatic assembly efficiency of steel balls; the steel ball guiding structure is reasonably arranged, and through the design of the inclined plane of the guide groove and the tangential outlet, the smoothness and consistency of the steel balls entering the raceway are effectively improved; the configuration of the second sensor 48 realizes the real-time monitoring of the ball loading process and ensures the assembly quality; the workpiece connecting shaft driven by the servo system not only completes the rotation of the screw, but also realizes stable assembly positioning through the spline groove, adapting to the connection of different specifications of screws; the overall equipment structure is compact and the modules are clear, suitable for the automatic assembly requirements of various models of nuts, and has high engineering practicability.

[0028] In the above embodiment, the power of the workpiece swing mechanism 3 can be replaced by an electric push rod driven by a cylinder to obtain more stable control performance; the linear guide 29 can be replaced by a guide pillar slider structure; the second sensor 48 can be replaced by a laser displacement sensor instead of a photoelectric sensor to improve the detection accuracy; the second servo reduction motor 30 can be selected as a stepping motor or a DC brushless motor; the material guiding rod material can be replaced by wear-resistant engineering plastics instead of stainless steel to reduce costs and reduce weight; the spline groove structure can be changed to a threaded connection, suitable for different forms of workpiece structures; in addition, the angle and depth of the spiral guide groove 40 can also be adjusted and optimized according to the different nut raceway sizes to adapt to more models of products.

[0029] The steel ball feeding assembly 1 includes a blanking support disc 6, a steel ball cylinder 10, a blanking support and a material distributing and collecting assembly. The steel ball cylinders 10 are uniformly arranged along the circumferential direction of the blanking support disc 6. The material distributing and collecting assembly includes a material distributing disc 16 and a converging disc 20; the material distributing disc 16 is arranged between the blanking support disc 6 and the converging disc 20. The circumferential direction of the material distributing disc 16 is provided with a quantitative block 17, and the quantitative block 17 is provided with a quantitative channel 48, which is communicated with the steel ball cylinder 10; the height of the quantitative block 17 is a fixed value and can store a certain number of steel balls; the side of the quantitative block 17 is provided with a first sensor 19 for detecting the number of steel balls in the quantitative channel 48. When the detected number of steel balls reaches the set value, a signal is sent by the first sensor 19 to trigger the action of the quantitative cylinder 18, pulling the quantitative block 17 to move it to align with the opening of the converging disc 20, and the steel balls then enter the blanking hose 5 through the converging disc 20.

[0030] The steel ball cylinder 10 stores a large number of steel balls and relies on gravity to fall into the quantitative block 17; the quantitative block 17 is installed on the material distributing disc 16, is in a sliding connection, and can be pushed and moved in the circumferential direction by the quantitative cylinder 18; the first sensor 19 monitors the number of steel balls, and after reaching the set value, it sends a trigger signal to drive the action of the quantitative cylinder 18, so that the quantitative block 17 moves to the opening position on the converging disc 20; at this time, the steel balls in the quantitative channel 48 flow into the blanking hose 5 from the converging disc 20 according to the predetermined quantity, realizing the quantitative and accurate supply of steel balls; the whole process is automatically executed, avoiding manual participation and improving the ball loading efficiency.

[0031] This structure realizes the precise quantitative supply of steel balls, ensuring that each raceway of the nut can obtain a fixed number of steel balls during each assembly process, eliminating the problems of missing or overloading; through the monitoring and feedback of Sensor 19, a closed-loop mechanism of automatic control is achieved, greatly improving the reliability and consistency of ball loading; the quantitative block 17 has a simple, reliable and detachable structure, which is convenient for maintenance and replacement, suitable for the assembly of multi-specification products, and meets the rapid beat requirements of the automated production line.

[0032] Replaceable or deformable implementation methods: The number and arrangement of the steel ball cylinders 10 can be flexibly adjusted according to the production beat, and the circumferential distribution can also be replaced with a radial or matrix arrangement; the quantitative block 17 can be replaced with a spring return structure to enhance the reliability of reset; Sensor 19 can select a capacitive or infrared sensing device; the size of the quantitative channel 48 can be flexibly designed according to the diameter of the steel ball; the quantitative cylinder 18 can be changed to a servo drive to improve the adjustment accuracy; the connection method between the manifold 20 and the blanking hose 5 can select magnetic attraction, quick insertion and other structures to improve the convenience and adaptability of disassembly and assembly.

[0033] A blowing support 11 is provided at the lower end of the steel ball cylinder 10. The blowing support 11 is fixedly installed on the blanking support disc 6. A steel ball channel 14 communicating with the lower end hole of the steel ball cylinder 10 is provided at its center. The steel ball channel 14 communicates with the quantitative channel 48; a circumferential air chamber 15 is provided on the circumference of the steel ball channel 14, and a blowing air duct 12 is provided on the side of the blowing support 11. The air duct 12 communicates with the circumferential air chamber 15. An air gap 13 is provided in the circumferential direction of the lower end hole of the steel ball cylinder 10. The air gap 13 communicates with the circumferential air chamber 15; the outer end of the blowing air duct 12 is connected to an air pipe joint 9, and the air pipe joint 9 is communicated with an external air source. When the air source is started, the air flow sprays upward through the air gap 13 to provide an upward boost to the steel balls to smoothly pass through the steel ball channel 14.

[0034] The steel balls fall by gravity from the steel ball cylinder 10 and enter the steel ball channel 14 through the lower end hole. To prevent the steel balls from accumulating or jamming in the channel, the blowing support 11 continuously blows air into the upper part of the channel through the air gap 13; the air flow enters from the air pipe joint 9, converges into the circumferential air chamber 15 through the blowing air duct 12, and then is blown out through the evenly distributed air gaps 13 of the circumferential air chamber 15 to realize the dynamic support and flow assistance for the steel balls; this structure not only effectively reduces the frictional resistance of the steel balls before entering the quantitative device, but also improves the flow stability, especially suitable for the working condition of rapid and continuous blanking of multiple steel balls.

[0035] The structure of the air-blowing support 11 is adopted, effectively solving the problem of poor ball supply caused by blockage, accumulation and other problems in the steel ball falling channel; with the assistance of air flow, the steel balls have more stable fluidity on the basis of gravity, improving the steel ball circulation efficiency and supply consistency; at the same time, the design of the circumferential air chamber 15 and the air gap 13 can form a uniform air curtain, avoiding the direction deflection of the steel balls caused by single-point air flow and enhancing the stability of the ball supply process, which is especially suitable for use in high-tempo automated assembly.

[0036] Replaceable or deformable implementation methods: The layout of the air-blowing air duct 12 can be changed from single-sided to symmetric double-sided to enhance the air flow uniformity; the air pipe joint 9 can be replaced with a quick connector for easy connection and maintenance; the air source can adopt different types such as compressed air and inert gas according to the actual situation of the factory; the circumferential air chamber 15 can also be changed to several distributed air cavity structures to optimize the air flow path; in addition, the material of the steel ball channel 14 can adopt high-molecular low-friction materials such as PTFE lining to further improve the smooth passing performance of the steel balls.

[0037] The upper surface of the equipment support table 8 is provided with an upper bracket 7, and the confluence plate 20 is fixedly installed on the upper bracket 7. The confluence plate 20, the material distribution plate 16 and the blanking support disc 6 are all circular structures, vertically stacked, arranged in sequence and installed in alignment to form a stable three-dimensional feeding system.

[0038] To improve the compactness and rigidity of the overall structure of the equipment, the confluence plate 20 is fixed on the upper bracket 7 through fasteners; the upper bracket 7 itself is installed on the upper surface of the equipment support table 8 to form a strong and stable support platform; the blanking support disc 6 is arranged at the bottom to support the steel ball cylinder 10; the material distribution plate 16 is clamped between the confluence plate 20 and the blanking support disc 6, and the quantitative ball distribution operation is carried out through the quantitative block 17; the three circular structures are coaxially installed, which can ensure that the steel balls have the same path and coordinated actions during the process of flowing through the quantitative structure from the cylinder body and then entering the confluence plate, reducing deviation and friction, and improving the ball loading stability and accuracy.

[0039] By setting the upper bracket 7 on the equipment support table and adopting a circular symmetric structure form, the three-layer disc bodies can be stably stacked and installed, with a compact and beautiful structure, which is helpful for the overall machine integration design; the circular structure is more symmetric during rotation and alignment, facilitating multi-point material distribution and channel design, and is suitable for the quantitative ball supply requirements of multiple workstations and multiple channels; the upper bracket structure also provides convenience for the wiring and maintenance of subsequent electrical components and pneumatic components, improving the modularization degree of the device and the engineering adaptation ability.

[0040] Replaceable or deformable embodiments: the upper bracket 7 can adopt a frame type, plate type or T-shaped structure according to the equipment layout; the busbar tray 20 can also be designed as a polygonal structure to adapt to special channel arrangement requirements; the three trays can be made of different materials such as aluminum alloy, stainless steel or engineering plastics to adapt to different working environments and strength requirements; in addition, the position of the upper bracket 7 can also be adjusted to a middle support structure according to the overall height of the equipment and operation requirements, realizing flexible space utilization and ergonomic optimization.

[0041] A steel ball main channel 21 is provided at the center of the busbar tray 20, and a plurality of steel ball sub-channels 22 are evenly distributed in the inner circumferential direction. The lower ends of the steel ball sub-channels 22 are all connected to the steel ball main channel 21, and the steel ball main channel 21 is connected to the lower feeding structure through a feeding hose 5; the number of the steel ball sub-channels 22, the quantitative channel 48 and the steel ball channel 14 are kept the same, and the steel ball channel 14 is interconnected with the steel ball sub-channels 22 through the quantitative channel 48.

[0042] The steel balls pass through the steel ball channel 14 and the quantitative channel 48 in sequence from the steel ball cylinder 10 and fall into the quantitative block 17 in the distribution tray 16; when the number of steel balls meets the set requirements, under the trigger of the sensor 19, the quantitative block 17 is pulled by the quantitative cylinder 18 to align its outlet with the steel ball sub-channel 22 in the busbar tray 20, and the steel balls then slide into the steel ball main channel 21 along the steel ball sub-channel 22; since the steel ball sub-channels 22 are annularly distributed and the number is the same as that of the previous stage, multiple ball inlet channels can operate concurrently, evenly concentrate towards the steel ball main channel 21, and then be uniformly introduced into the feeding hole 41 through the feeding hose 5, realizing a streamlined, smooth and efficient feeding process.

[0043] In this embodiment, through the structural cooperation of the sub-channel 22 and the main channel 21, multiple steel ball paths are effectively integrated, achieving both distributed steel ball supply and centralized ball loading operation, improving the structural compactness and assembly efficiency; the consistency of the channel number ensures the rhythm coordination of the steel ball supply process, avoiding problems such as ball jamming and ball leakage caused by channel misalignment or uneven distribution, and improving the ball supply accuracy and system stability; at the same time, the compatible design of the structure of the sub-channel 22 and the quantitative channel 48 is convenient for standardized manufacturing and module replacement, enhancing the maintainability and flexible adaptability of the equipment.

[0044] Replaceable or deformable embodiments: the number of the steel ball sub-channels 22 can be adjusted according to the product rhythm and the steel ball size; its layout form can also be changed from annular to star-shaped, radially distributed, etc.; the steel ball main channel 21 can also adopt a multi-stage gradually converging structure to adapt to more complex assembly working conditions; the connection method of the feeding hose 5 can be snap type, threaded type or flange connection to enhance the sealing performance and detachability; in addition, the busbar tray 20 can be integrated with a transparent window or opening, and cooperate with the vision monitoring system to realize the real-time monitoring of the steel ball flow state.

[0045] A vertical frame 31 is fixed to the lower surface of the equipment support platform 8, and a screw module 47 is arranged on one side of the vertical frame 31. The lifting support frame 37 is fixedly connected to the screw module 47 through a slider, and a servo reduction motor 32 is installed on the other side of the vertical frame 31. The servo reduction motor 32 is transmission-connected to the screw module 47 through a synchronous belt 33; the screw module 47 is driven by the servo reduction motor 32 to drive the lifting support frame 37 to realize the lifting function; a servo reduction motor 30 is also installed on the lifting support frame 37, which is connected to the workpiece connecting shaft 34 through a synchronous belt 36 to drive it to realize the rotational motion.

[0046] The structure provides vertical installation support through the vertical frame 31; the screw module 47 is connected to the lifting support frame 37 to form a lifting drive mechanism; the rotational motion output by the servo reduction motor 32 is transmitted to the screw module 47 through the synchronous belt 33, driving its slider to move, thereby realizing the vertical displacement of the lifting support frame 37, thereby driving the workpiece connecting shaft 34 and the screw connected thereto to move up and down; the servo reduction motor 2 30 is installed on the lifting support frame 37, and is connected to the workpiece connecting shaft 34 through the synchronous belt 2 36 to control its rotation, thereby realizing the rotation of the screw during the assembly process; the combination of up and down and rotational double degrees of freedom completes the layer-by-layer assembly of the multi-layer raceways in the nut.

[0047] The lifting and rotating dual-axis servo drive structure realizes precise lifting and rotation control of the screw, and can assemble the steel ball according to the raceway position in the nut layer by layer. It is flexible to operate and has high precision. The screw module structure has strong rigidity and high repeatability. In conjunction with the servo system, it can ensure high stability and rapid response capabilities to meet the efficient and automated assembly rhythm. The structure is both universal and extensible, suitable for screw sizes and strokes of different specifications, and equipment adjustment and maintenance are more convenient.

[0048] In a replaceable or deformable implementation method, the lifting drive mode can be replaced by an electric telescopic rod structure to simplify the complexity of the system; the servo reduction motor 1 32 and the servo reduction motor 2 30 can also be replaced by a stepper motor or a pneumatic motor, configured according to different speed and precision requirements; the synchronous belt drive mode can also be changed to gear drive or direct connection with a coupling to improve the transmission rigidity; the screw module can be a ball screw or a trapezoidal screw, depending on the load and response speed; in addition, the lifting support frame 37 can be pre-set with multiple mounting holes for quick replacement of workpiece fixtures to adapt to assembly objects of different forms.

[0049] The synchronous belt is composed of a rubber body, a steel wire core and a toothed surface. It meshes with the corresponding synchronous pulley and has the advantages of anti-slip and high transmission accuracy.

[0050] Through the precise control of the servo motor, the synchronous belt can accurately output the positioning speed and angle, which is suitable for the high synchronization and high precision requirements for the lifting and rotating of the screw in the present invention.

[0051] Especially during the process of loading balls into multiple nut raceways, the height of each layer of the raceway is positioned by lifting, and then the steel balls are pressed in by a rotating action. This collaborative mechanism has extremely high requirements for synchronization.

[0052] The two sets of synchronous belt structures for lifting and rotating independently control their respective degrees of freedom, but through the precise coordination of the PLC program control logic, a closed-loop assembly rhythm of "lifting one layer, loading one layer, rotating and pushing forward, detecting and confirming" can be achieved; especially during the process of loading balls into multiple nut raceways, the screw is positioned at different layer heights by the servo reduction motor 32, and then the servo reduction motor 30 completes the rotation to push the steel balls in, making the assembly process of each layer stable, controllable, and with good repeatability.

[0053] A guiding groove 24 is arranged in the vertical direction of the swing frame 23, and a slider 46 is arranged on the side of the upper feeding rod 38. The upper feeding rod 38 is slidably connected to the guiding groove 24 through the slider 46 to achieve the guiding and positioning function; a threaded hole 43 is arranged on the inclined surface of the lower feeding rod 39, and it is fixedly connected to the upper feeding rod 38 through a bolt to form an integrated feeding structure.

[0054] As a structural guiding part on the swing frame 23, the guiding groove 24 is internally provided with a track matching the slider 46 to ensure the precise positioning of the upper feeding rod 38 in the vertical direction and achieve a stable sliding connection; one end of the slider 46 is fixed on the upper feeding rod 38, and through the close cooperation with the guiding groove 24, the feeding system maintains the vertical stability of the movement track during the swinging process, avoids lateral displacement, and ensures that the steel balls are accurately introduced into the nut raceway from the material discharging hole 41 through the spiral guiding groove 40; the upper and lower feeding rods are rigidly connected by bolts through the threaded holes 43 arranged on the inclined surface of the lower feeding rod 39, ensuring the strength and consistency of the overall structure of the feeding system.

[0055] Through the cooperation of the slider 46 and the guiding groove 24, this structure improves the guiding accuracy and movement stability of the upper feeding rod 38 during swinging, effectively avoiding the risk of deviation or derailment of the feeding path; the use of bolts to connect the upper and lower feeding rods not only facilitates assembly but also enhances the structural rigidity, ensuring that the feeding mechanism can still operate stably under high-frequency reciprocating motion, improving the overall feeding efficiency and reliability; it is suitable for the high-precision steel ball introduction requirements in multiple nut raceways and enhances the controllability of the assembly process.

[0056] Replaceable or deformable embodiments. The guiding groove 24 can be in various structural forms such as T-shaped grooves, V-shaped grooves, etc. The slider 46 can be a roller slider, a linear slider, a PTFE self-lubricating slider, etc. The bolt connection method can be changed to a quick-release buckle or a positioning pin fastening structure to improve the assembly and disassembly efficiency. The upper and lower guiding rods can also be designed as plug-in structures for easy replacement and maintenance. Lightweight alloys or engineering plastics can be selected as materials to reduce the moment of inertia and meet the requirements of high-speed swing vibration. In addition, a limiting mechanism or a buffer structure can be added in the guiding groove 24 to prevent the guiding rod from running out of range or colliding.

[0057] A method for automatically loading steel balls into the multi-layer self-circulating raceways of an electric recirculating ball steering gear, using the equipment described in claim 7, specifically including the following steps: Step 1: Pre-assembly preparation of steel balls, nuts, and screws: Batch-load the steel balls into the steel ball cylinder 10; Place the nut to be assembled into the positioning groove 28 of the workpiece swing mechanism 3 for positioning; Insert the lower end of the screw to be assembled into the workpiece connecting shaft 34 of the steel ball loading assembly 4; The lower end of the lower guiding rod 39 is sleeved on the screw; After the pre-assembly is completed, start the equipment operation button. Step 2: Start the steel ball feeding assembly: The steel balls enter the metering block 17 from the steel ball cylinder 10 through the steel ball channel 14, and are screened and counted by it; When the number of steel balls meets the requirements, the first sensor 19 emits a signal, and the metering cylinder 18 acts to drive the metering block 17 to move outwards, releasing the metered steel balls to the confluence plate 20. Step 3: Start the steel ball loading system: Simultaneously start the steel ball feeding assembly and the loading mechanism. The servo reduction motor 1 drives the screw to rise, so that the outlet of the spiral guide groove 40 is aligned with the position of the nut raceway. Step 4: Directional introduction of steel balls: The steel balls converge into the steel ball main channel 21 through the steel ball sub-channels 22, enter the feeding hole 41 through the feeding hose 5, then fall into the spiral guide groove 40, and enter the nut raceway in a tangential direction. Step 5: Detection of the steel ball loading state: The second sensor 48 monitors the flow state of the steel balls in the spiral guide groove 40 to judge whether they have completely entered the raceway. Step 6: Conversion of the positioning raceway: If it is detected that the steel balls have completely flowed in, the servo reduction motor 1 and the servo reduction motor 2 respectively drive the screw to rise and rotate, so that the feeding system is aligned with the next layer of raceways. Step 7: Handling of abnormal loading: If it is detected that the steel balls have not completely entered, the workpiece swing mechanism 3 is started, and the swing cylinder 25 drives the swing frame 23 to reciprocate, thereby driving the guiding rod to swing, so as to promote the steel balls to completely enter the raceway. Step 8: Multi-layer assembly cycle: Repeat steps 6 to 7 until all the raceways are loaded with steel balls, realizing the precise assembly of steel balls layer by layer in the multi-layer nut raceways.

[0058] This method realizes the automatic ball loading operation of multi-layer nut raceways step by step by performing sequential control on multiple system links such as the feeding, detection, introduction, positioning, and vibration of the equipment. The system is equipped with multiple feedback mechanisms, and the feeding and introduction states are monitored in real time through Sensor 1 19 and Sensor 2 48 to ensure that the process is accurately controllable. A servo drive structure is adopted to achieve changes in the lifting and rotation degrees of freedom, enabling the guide structure to be accurately aligned with each layer of raceway, while the swing vibration mechanism intervenes in abnormal states to ensure the integrity and continuity of the assembly.

[0059] This method completely covers the whole process from the pre-installation of original parts to the completion of ball loading in multi-layer raceways, with clear logic and simple operation. By using the equipment automation system, closed-loop control of links such as the quantitative control, guiding, loading, and state detection of steel balls is realized, significantly reducing manual intervention and improving the assembly efficiency and consistency. The layer-by-layer promotion strategy for multi-layer raceway assembly, combined with the adjustable alignment and auxiliary swing vibration mechanism of the guide structure, makes this method highly adaptable, accurate, and reliable.

[0060] In the above method, the execution logic of the steps can be flexibly defined through PLC programming to achieve customized process flows. The ball loading sequence can be optimized and adjusted according to the nut structure, such as assembling from bottom to top or alternately. The assembly detection mechanism can add a vision recognition system to replace some sensors. The equipment operation startup method can adopt a human-machine interface HMI touch control system to achieve more intelligent human-machine interaction. For the problem of poor ball introduction, pulse air flow or other methods can also be used to replace the swing vibration operation to increase the flexible response ability of the system.

[0061] The above shows and describes the basic principles, main features, and advantages of the present invention. Without departing from the spirit and scope of the present invention, there are various changes and improvements to the present invention, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. Automatic steel ball loading equipment for multi-layer self-circulating raceways of an electric recirculating ball steering gear, comprising an equipment support table (8), a steel ball guiding system (2), a workpiece swinging mechanism (3), and a steel ball loading assembly (4), characterized in that: The workpiece oscillating mechanism (3) and the steel ball loading assembly (4) are respectively arranged on the upper surface and the lower surface of the equipment support platform (8). The workpiece oscillating mechanism (3) comprises an oscillating frame (23), an oscillating cylinder (25), a fixed frame (26) and a positioning base (27). The lower end of the oscillating frame (23) is slidably connected to a linear rail (29) on one side of the positioning base (27). One end of the oscillating cylinder (25) is fixed on the fixed frame (26), and the other end of the oscillating cylinder (25) is connected to the oscillating frame (23) through a connecting block. A positioning groove (28) is provided on the positioning base (27), and the positioning groove (28) is used to position the nut to be installed. A round hole (45) is provided at the bottom of the positioning groove (28). The steel ball guiding system (2) includes an upper guide rod (38) and a lower guide rod (39). The upper end of the lower guide rod (39) is set to an inclined surface, and a spiral guide groove (40) is provided on the inclined surface. The outlet of the spiral guide groove (40) is tangentially facing the inner raceway of the nut. The upper guide rod (38) is slidably connected to the swing frame (23). The guide rod (38) is provided with a through feeding hole (41), the lower end of the feeding hole (41) corresponds to the inlet of the spiral guide groove (40), a detection hole (42) is provided on one side of the feeding hole (41), a second sensor (48) is installed in the detection hole (42), the upper end of the feeding hole (41) is connected to a steel ball feeding assembly (1) through a feeding hose (5), and the steel ball loading assembly (4) comprises a second servo reduction motor (30), a workpiece connecting shaft (34), a bearing seat (35), a second synchronous belt (36) ) and a lifting support frame (37), the servo reduction motor 2 (30) and the bearing seat (35) are respectively mounted on the lifting support frame (37), the lower end of the workpiece connecting shaft (34) is mounted in the bearing seat (35), the upper end of the workpiece connecting shaft (34) is provided with a spline groove connected to the screw, the lower end of the lower guide rod (39) is provided with a positioning hole (44), the positioning hole (44) corresponds to the upper end of the screw, and the servo reduction motor 2 (30) is connected to the workpiece connecting shaft (34) through a synchronous belt 2 (36).

2. The automatic steel ball loading equipment for the multi-layer self-circulating raceway of the electric recirculating ball steering gear according to claim 1, characterized in that: The steel ball feeding assembly (1) comprises a feeding support disc (6) and a steel ball cylinder (10), a feeding support and a material distribution and collection assembly, wherein the steel ball cylinder (10) is evenly arranged along the circumferential direction of the support disc (6), and the material distribution and collection assembly comprises a material distribution disc (16) and a collection disc (20), wherein the material distribution disc (16) is arranged between the feeding support disc (6) and the collection disc (20), and a quantitative block (17) is arranged in the circumferential direction of the material distribution disc (16), and a quantitative channel (48) is arranged on the quantitative block (17). ), the steel ball cylinder (10) is connected to the quantitative channel (48), a sensor (19) is arranged on the side of the quantitative block (17), the sensor (19) corresponds to the inside of the quantitative channel (48), a quantitative cylinder (18) is arranged on the outside of the material distribution plate (16), the telescopic end of the quantitative cylinder (18) is fixedly connected to the quantitative block (17), the quantitative block (17) is slidably connected to the material distribution plate (16), and the quantitative channel (48) is connected to the unloading hose (5) through the confluence plate (20).

3. The automatic steel ball loading equipment for the multi-layer self-circulating raceway of the electric recirculating ball steering gear according to claim 2, characterized in that: A blowing support (11) is provided at the lower end of the steel ball cylinder (10). The blowing support (11) is fixed on the blanking support disc (6). A steel ball channel (14) communicating with the lower end hole of the steel ball cylinder (10) is provided at the center of the blowing support (11). The steel ball channel (14) communicates with the metering channel (48). An annular air chamber (15) is arranged circumferentially around the steel ball channel (14). A blowing air passage (12) is provided on the side surface of the blowing support (11). The blowing air passage (12) communicates with the annular air chamber (15). An air gap (13) communicating with the annular air chamber (15) is provided in the circumferential direction of the lower end hole of the steel ball cylinder (10). The outer end of the blowing air passage (12) is connected with an air pipe joint (9), and the air pipe joint (9) communicates with an external air source.

4. The automatic steel ball loading equipment for the multi-layer self-circulating raceway of the electric recirculating ball steering gear according to claim 2, characterized in that: An upper support (7) is provided on the upper surface of the equipment support table (8). The confluence disc (20) is fixed on the upper support (7). The confluence disc (20), the material distribution disc (16) and the blanking support disc (6) are all arranged in a circular structure.

5. The automatic steel ball loading equipment for the multi-layer self-circulating raceway of the electric recirculating ball steering gear according to claim 2, characterized in that: A steel ball main channel (21) is provided at the center of the confluence disc (20). Steel ball sub-channels (22) are arranged in the circumferential direction inside the confluence disc (20). The lower ends of the steel ball sub-channels (22) communicate with the steel ball main channel (21). The steel ball main channel (21) is connected with the blanking hose (5). The number of the steel ball sub-channels (22), the metering channels (48) and the steel ball channels (14) is the same, and the steel ball channel (14) communicates with the steel ball sub-channel (22) through the metering channel (48).

6. The automatic steel ball loading equipment for the multi-layer self-circulating raceway of the electric recirculating ball steering gear according to claim 5, characterized in that: A vertical frame (31) is fixed on the lower surface of the equipment support table (8). A lead screw module (47) is provided on the side surface of the vertical frame (31). The lifting support frame (37) is fixedly connected with the slider of the lead screw module (47). A servo reduction motor I (32) is provided on the other side of the vertical frame (31). The servo reduction motor I (32) is connected with the lead screw module (47) through a synchronous belt I (33).

7. The automatic steel ball loading equipment for the multi-layer self-circulating raceway of the electric recirculating ball steering gear according to claim 6, characterized in that: A guide groove (24) is provided in the vertical direction of the swing vibration frame (23). A slider (46) is provided on the side surface of the upper material guiding rod (38). The upper material guiding rod (38) is slidably connected with the guide groove (24) through the slider (46). A threaded hole (43) is provided on the inclined surface of the lower material guiding rod (39). The lower material guiding rod (39) and the upper material guiding rod (38) are fixedly connected with each other through bolts.

8. Method for automatically loading steel balls into multi-layer self-circulating raceways of an electric recirculating ball steering gear, characterized in that, The electric circulating ball steering gear multi-layer self-circulating raceway automatic steel ball loading equipment according to claim 7, comprising the following steps: Step 1: Pre-assembly preparation of steel balls, nuts and screws. Batch load the steel balls into the steel ball cylinder (10) respectively. Place the nut to be assembled into the positioning groove (28) of the workpiece swing vibration mechanism (3). Insert the lower end of the screw to be assembled into the workpiece connecting shaft (34) of the steel ball loading assembly (4). The lower end of the lower material guiding rod (39) is sleeved on the screw, and then press the button. Step 2: The steel ball feeding assembly (1) is started. The steel balls enter the metering block (17) through the steel ball cylinder (10) and the steel ball channel (14). A fixed number of steel balls are determined by screening through the metering block (17). When sensor 1 (19) senses that the number of steel balls loaded into the metering block (17) meets the requirement, the metering cylinder (18) pulls the metering block (17), and the fixed number of steel balls fall into the confluence plate (20). Step 3: The steel ball loading system is started. While the steel ball feeding assembly (1) is started, the servo reduction motor 1 (32) drives the screw to be loaded to rise, and the outlet of the spiral guide groove (40) of the steel ball guiding system (2) is aligned with the nut raceway. Step 4: The steel balls converge from the steel ball sub-channel (22) to the steel ball main channel (21). The steel ball main channel (21) falls through the feeding hose (5) into the feeding hole (41), then falls into the spiral guide groove (40), and flows into the nut raceway in a tangential direction. Step 5: Sensor 2 (48) on the steel ball guiding system (2) detects whether the steel balls in the spiral guide groove (40) have completely flowed into the inner nut raceway. Step 6: If sensor 2 (48) detects that the steel balls have completely flowed into the nut raceway, the servo reduction motor 1 (32) and the servo reduction motor 2 (30) are started, driving the screw to rise and rotate, so that the outlet of the spiral guide groove (40) of the steel ball guiding system faces the second nut raceway. Step 7: If sensor 2 (48) detects that the steel balls have not completely flowed into the nut raceway, the workpiece oscillation mechanism (3) is activated, and the oscillation cylinder (25) pulls the oscillation frame (23) to reciprocate. The guide groove (24) of the oscillation frame (23) drives the steel ball guiding system (2) to perform reciprocating oscillation to ensure that the steel balls completely flow into the raceway. Step 8: Repeat Step 6 and Step 7 until the steel balls in each layer of the nut raceway are completely assembled.

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