Automatic assembly robot and method based on universal joint machining

Abstract

The invention relates to the technical field of universal joint assembly, and particularly discloses an automatic assembly robot and method for cross shaft universal joint machining, the automatic assembly robot comprises a sliding seat, a clamp used for clamping a cross shaft is arranged at one end of the sliding seat, an adjusting assembly is arranged between the sliding seat and the clamp, and the adjusting assembly is used for adjusting the position of the cross shaft. And the cross shaft can be clamped into the shaft hole of the universal joint fork. Through cooperative work of the adjusting assembly and the clamp, the position and posture of the universal joint pin can be accurately controlled, and the universal joint pin is gradually aligned with a shaft hole of the universal joint fork in the assembling process; by means of the design, alignment errors in manual operation are avoided, it is ensured that the cross shaft can be smoothly clamped into the shaft hole, the assembly accuracy and the one-time success rate are remarkably improved, the problem of part damage or assembly failure caused by inaccurate alignment is solved, and meanwhile the process stability is enhanced.

Description

Technical Field

[0001] This invention relates to the field of universal joint assembly technology, and in particular to an automated assembly robot and method based on the machining of cross-shaped universal joints. Background Technology

[0002] The automated assembly robot for machining universal joints is an automated device specifically designed for industrial fields such as automotive transmission systems. Its core task is to efficiently and accurately assemble universal joints. The robot system typically integrates high-precision vision recognition and a dexterous gripping mechanism, enabling it to automatically sort the four journals of the universal joint, along with bearing sleeves, needle rollers, and other small parts, from the feed tray. Then, through precise force control and trajectory planning, it presses the journals one by one, without damage, into the holes of the universal joint lugs, and completes the installation of the needle rollers and the fixing of the retaining rings, ultimately forming a complete and reliable universal joint assembly. This significantly improves the assembly quality, consistency, and automation level of the production line.

[0003] For example, the assembly mechanism for assembling a universal joint coupling and a shaft disclosed in prior art publication number CN210121751U includes a coupling retaining member and a spring pin pressing assembly. The coupling retaining member is arranged below the spring pin pressing assembly and is used to position the universal joint coupling and the shaft. The spring pin pressing assembly includes a connecting frame, a mounting plate, a guide member, a spring pin positioning block, and a ejector pin. The mounting plate is located below the connecting frame and is slidably connected to the connecting frame through the guide member. The spring pin positioning block is provided on the mounting plate and has a positioning hole for positioning the spring pin. The ejector pin is located at the bottom of the connecting frame and faces the positioning hole.

[0004] The above-mentioned prior art only describes the installation of universal joints without motion interference. However, the installation process of cross shaft universal joints usually requires professionals to repeatedly adjust the angle of the cross shaft so that the cross shaft can be inserted into the shaft hole of the universal joint fork. This process is quite cumbersome and cannot be completed by a simple mechanical extrusion structure. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] This invention provides an automated assembly robot and method based on the machining of universal joints, which can solve the problem that existing technologies cannot quickly assemble universal joints. The specific solution is as follows: On the one hand, the present invention provides an automatic assembly robot based on the machining of a cross shaft universal joint, including a sliding seat, one end of which is provided with a clamp for holding the cross shaft, and an adjustment component is provided between the sliding seat and the clamp for adjusting the position of the cross shaft so that the cross shaft can be inserted into the shaft hole of the universal joint fork. The adjustment assembly includes a rotating shaft and a first telescopic rod. The rotating shaft is rotatably connected to one end of the sliding seat, one end of the first telescopic rod is fixed to one end of the rotating shaft, and the other end of the first telescopic rod is fixed to the clamp. The central axis of the first telescopic rod is coaxial with the two axes of the cross shaft to be installed; During installation, the clamp moves the tilted cross shaft into the universal joint fork. Then, the first telescopic rod drives the clamp and cross shaft to move, so that one end of the cross shaft is inserted into one of the shaft holes. The clamp then rotates around the pivot, reducing the angle between the cross shaft and the shaft hole. The first telescopic rod then drives the clamp and cross shaft to move again, so that the other end of the cross shaft is close to the other shaft hole. Finally, external force is used to completely squeeze the cross shaft into the shaft hole, completing the installation.

[0007] Preferably, a fixed seat is provided below the sliding seat, and a sliding rod is provided on the fixed seat. The sliding seat and the sliding rod are slidably connected. A second telescopic rod is connected between the ends of the sliding seat and the fixed seat. The universal joint fork to be installed is fixed by the clamping assembly, so that the universal joint fork to be installed is fixed on the fixed seat.

[0008] Preferably, one end of the sliding seat is provided with a striking rod, which is used to fully squeeze the cross shaft into the shaft hole. The end of the striking rod near the shaft hole is connected to a counterweight. The striking rod is rotatably mounted on the outer wall of the sliding seat. The striking rod can be driven by external force to rotate in the direction of the shaft hole. Specifically, it can be achieved by an electric telescopic rod. The electric telescopic rod pushes the striking rod a certain distance in the direction of the shaft hole. When the striking rod is in a vertical state, the electric telescopic rod is no longer driven. Through the gravity of the striking rod and the counterweight, force is applied to the cross shaft to be assembled, so that the cross shaft is fully squeezed into the shaft hole, thereby completing the assembly of the cross shaft and the universal joint fork.

[0009] Preferably, a first motor is installed at one end of the rotating shaft. The first motor is fixedly installed on the outer wall of the sliding seat. The output shaft of the first motor is fixed to the rotating shaft, so that the first motor can drive the rotating shaft to rotate, and the clamp can drive the cross shaft to rotate.

[0010] Preferably, a reset groove is provided on the top of the sliding seat, and a reset block is connected to one end of the clamp near the reset groove. The shape of the reset block matches the reset groove, and a reset plate is provided above the reset block. After the cross shaft and the shaft hole are assembled, the position of the clamp is adjusted by the first telescopic rod and the rotating shaft so that the reset block coincides with the reset groove and the bottom end of the reset plate is flush with the top end of the sliding seat. At this time, the two shafts of the cross shaft are concentric with the shaft hole, which facilitates the subsequent installation of the sleeve. The sleeve is the component that is fitted on the cross shaft to make the cross shaft and the shaft hole tightly connected and to ensure that the lubricating oil inside the cross shaft is sealed.

[0011] Preferably, the outer wall of the universal joint fork has a notch that allows the cross shaft to be inserted into the shaft hole.

[0012] Preferably, the clamp includes a central block, one end of the first telescopic rod is fixed to the middle of the central block, the two ends of the central block are provided with sliding grooves, the middle of the two sliding grooves are connected, a slider is slidably installed inside the two sliding grooves, and the ends of the two sliders are connected to clamping rods, and the distance between the two clamping rods on the same slider matches the outer diameter of the cross shaft. By bringing the two sliders closer to each other, the clamping rods can clamp the cross shaft.

[0013] Preferably, the two sliders are connected to racks at their close ends, and the two racks are symmetrically arranged about the central axis of the central block. A gear is provided in the middle of the two racks, and the gear meshes with the two racks. A second motor is installed at one end of the gear and is installed on the outer wall of the central block. The output shaft of the second motor is fixed to the gear.

[0014] Preferably, the reset block is fixed on the outer wall of the central block, and a motor slot is provided in the middle of the reset block, and the second motor is fixedly installed in the motor slot.

[0015] On the other hand, the present invention provides an automated assembly method based on the machining of a cross-shaped universal joint, comprising the following steps: S1. The clamp moves the tilted cross shaft into the universal joint fork; S2. The clamp and cross shaft are moved by the first telescopic rod, so that one end of the cross shaft is inserted into one of the shaft holes; S3. The fixture rotates around the pivot, reducing the angle between the cross shaft and the shaft hole. S4. The clamp and cross shaft are moved again by the first telescopic rod, so that the other end of the cross shaft is close to another shaft hole; S5. Use external force to fully insert the cross shaft into the shaft hole to complete the installation.

[0016] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. This invention, by adjusting the coordinated work of the components and the fixture, can precisely control the position and orientation of the cross shaft, so that it gradually aligns with the shaft hole of the universal joint fork during the assembly process. This design avoids alignment errors in manual operation, ensures that the cross shaft can smoothly enter the shaft hole, significantly improves the accuracy of assembly and the first-time success rate, reduces the problem of part damage or assembly failure caused by misalignment, and enhances process stability.

[0017] 2. This invention achieves full automation of the clamping, position adjustment, rotation, and final striking of the cross shaft through the first motor, the second motor, the first telescopic rod, and the second telescopic rod. This greatly reduces manual intervention, shortens the assembly time of individual parts, is suitable for mass production, effectively improves the overall production efficiency of universal joint components, and reduces labor intensity and management costs.

[0018] 3. This invention incorporates an adjustment component that allows the fixture to drive the cross shaft in multi-degree-of-freedom motion, including translation and rotation, thereby adapting to different positions and angles of the universal joint fork shaft hole. The notch design provides space for the cross shaft to be inserted, ensuring that even with slight manufacturing errors in the parts, the robot can complete the assembly through dynamic adjustment, enhancing the system's tolerance to actual working conditions and expanding its applicability.

[0019] 4. The present invention provides stable guiding support for the sliding seat by setting a fixed seat and a sliding rod, and the second telescopic rod controls the precise movement of the sliding seat; the clamping assembly firmly fixes the universal joint fork to prevent displacement during assembly; the striking rod and counterweight apply a uniform striking force by gravity to ensure that the cross shaft is fully in place, avoiding overshoot or insufficient force, and ensuring the tightness of the assembly and long-term reliability.

[0020] 5. By setting a reset groove and a reset block, the present invention enables the fixture to be quickly reset after assembly, keeping the two shafts of the cross shaft concentric with the shaft hole, creating ideal conditions for the subsequent installation of the sleeve; this integrated design simplifies the workflow, avoids secondary adjustments, improves the continuity and efficiency of the entire universal joint assembly line, and reduces downtime.

[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a three-dimensional view of the overall processing state of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a rear view of the present invention; Figure 4 This is a perspective view of the other side of the invention; Figure 5 This is a perspective view of the sliding seat and clamp of the present invention; Figure 6 This is a schematic diagram illustrating the installation process of the cross shaft and universal joint fork of the present invention; Figure 7 This is a perspective view of the universal joint fork of the present invention; Figure 8 This is a perspective view of the clamp and cross shaft of the present invention; Figure 9 This is an exploded view of the fixture of the present invention; Figure 10 This is a partial perspective view of the fixture of the present invention.

[0023] The reference numerals in the attached figures are as follows: 1. Sliding seat; 2. Cross shaft; 3. Universal joint fork; 4. Shaft hole; 5. Rotating shaft; 6. First telescopic rod; 7. Striking rod; 8. Counterweight; 9. Fixed seat; 10. Sliding rod; 11. Second telescopic rod; 12. First motor; 13. Reset groove; 14. Reset block; 15. Reset plate; 16. Notch; 17. Center block; 18. Slide groove; 19. Slider; 20. Clamping rod; 21. Rack; 22. Gear; 23. Second motor; 24. Motor slot. Detailed Implementation

[0024] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of the present invention and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0025] Example 1: As Figure 1 , Figure 2 , Figure 3As shown, this embodiment provides an automatic assembly robot based on the machining of a cross shaft universal joint, including a sliding seat 1. One end of the sliding seat 1 is provided with a clamp for holding the cross shaft 2. An adjustment component is provided between the sliding seat 1 and the clamp, which is used to adjust the position of the cross shaft 2 so that the cross shaft 2 can be inserted into the shaft hole 4 of the universal joint fork 3.

[0026] like Figure 4 , Figure 5 As shown, the adjustment assembly includes a rotating shaft 5 and a first telescopic rod 6. The rotating shaft 5 is rotatably connected to one end of the sliding seat 1, one end of the first telescopic rod 6 is fixed to one end of the rotating shaft 5, and the other end of the first telescopic rod 6 is fixed to the clamp. The central axis of the first telescopic rod 6 is coaxial with the two shafts of the cross shaft 2 to be installed, as shown. Figure 6 As shown, the central axis z of the rotating shaft 5 is located inside the shaft hole 4 of the universal joint fork 3; In the above scheme, during installation, the clamp moves the cross shaft 2, which is in an inclined state, into the universal joint fork 3. Then, the clamp and cross shaft 2 are moved by the first telescopic rod 6, so that one end of the cross shaft 2 is inserted into one of the shaft holes 4. Then, the clamp rotates around the rotating shaft 5, so that the angle between the cross shaft 2 and the shaft hole 4 gradually decreases. Then, the clamp and cross shaft 2 are moved again by the first telescopic rod 6, so that the other end of the cross shaft 2 is close to the other shaft hole 4. Finally, the cross shaft 2 is completely squeezed into the shaft hole 4 by external force, and the installation is completed.

[0027] It should be noted that the external force in the above scheme is achieved by setting a striking rod 7 at one end of the sliding seat 1, such as... Figure 4 As shown, the striking rod 7 is used to fully insert the cross shaft 2 into the shaft hole 4. A counterweight 8 is connected to one end of the striking rod 7 near the shaft hole 4. The striking rod 7 is rotatably mounted on the outer wall of the sliding seat 1. The striking rod 7 can be rotated in the direction of the shaft hole 4 by external force, which can be achieved by an electric telescopic rod (not shown in the figure). The electric telescopic rod pushes the striking rod 7 a certain distance in the direction of the shaft hole 4. When the striking rod 7 is in a vertical state, the electric telescopic rod is no longer driven. Through the gravity of the striking rod 7 and the counterweight 8, a force is applied to the cross shaft 2 to be assembled, so that the cross shaft 2 is fully inserted into the shaft hole 4, thereby completing the assembly of the cross shaft 2 and the universal joint fork 3.

[0028] As one possible implementation, such as Figure 4 As shown, a fixed seat 9 is provided below the sliding seat 1, and a sliding rod 10 is provided on the fixed seat 9. The sliding seat 1 and the sliding rod 10 are slidably connected. A second telescopic rod 11 is connected between the ends of the sliding seat 1 and the fixed seat 9. The universal joint fork 3 to be installed is fixed by the clamping assembly. The clamping assembly can be any device on the market that can play a fixing role, so that the universal joint fork 3 to be installed is fixed on the fixed seat 9.

[0029] As one possible implementation, such as Figure 4 , Figure 5 As shown, a first motor 12 is installed at one end of the rotating shaft 5. The first motor 12 is fixedly installed on the outer wall of the sliding seat 1. The output shaft of the first motor 12 is fixed to the rotating shaft 5, so that the first motor 12 can drive the rotating shaft 5 to rotate, and the clamp can drive the cross shaft 2 to rotate.

[0030] As one possible implementation, such as Figure 4 As shown, a reset groove 13 is provided on the top of the sliding seat 1. A reset block 14 is connected to one end of the clamp near the reset groove 13. The reset block 14 matches the shape of the reset groove 13. A reset plate 15 is provided above the reset block 14. After the cross shaft 2 and the shaft hole 4 are assembled, the position of the clamp is adjusted by the first telescopic rod 6 and the rotating shaft 5 so that the reset block 14 coincides with the reset groove 13 and the bottom end of the reset plate 15 is flush with the top end of the sliding seat 1. At this time, the two shafts of the cross shaft 2 are concentric with the shaft hole 4, which facilitates the subsequent installation of the sleeve. The sleeve is the component that is fitted on the cross shaft 2 to make the cross shaft 2 and the shaft hole 4 tightly connected and to ensure that the lubricating oil inside the cross shaft 2 is sealed.

[0031] As one possible implementation, such as Figure 7 As shown, the outer wall of the universal joint fork 3 has a notch 16, which is used to allow the cross shaft 2 to be squeezed into the shaft hole 4.

[0032] As one possible implementation, such as Figure 8 , Figure 9 , Figure 10 As shown, the clamp includes a central block 17. One end of the first telescopic rod 6 is fixed to the middle of the central block 17. The two ends of the central block 17 are provided with sliding grooves 18. The middle of the two sliding grooves 18 are connected to each other. Sliding blocks 19 are slidably installed inside the two sliding grooves 18. The ends of the two sliding blocks 19 are connected to clamping rods 20. The distance between the two clamping rods 20 on the same sliding block 19 matches the outer diameter of the cross shaft 2. By bringing the two sliding blocks 19 closer to each other, the clamping rods 20 can clamp the cross shaft 2.

[0033] Two sliders 19 are connected to racks 21 at their close ends. The two racks 21 are symmetrically arranged about the central axis of the central block 17. A gear 22 is provided in the middle of the two racks 21. The gear 22 meshes with the two racks 21. A second motor 23 is installed at one end of the gear 22. The second motor 23 is installed on the outer wall of the central block 17. The output shaft of the second motor 23 is fixed to the gear 22.

[0034] As one possible implementation, such as Figure 9As shown, the reset block 14 is fixed on the outer wall of the center block 17, and a motor slot 24 is provided in the middle of the reset block 14. The second motor 23 is fixedly installed in the motor slot 24.

[0035] Example 2: This example differs from Example 1 in that it provides an automated assembly method based on the machining of a universal joint, including the following steps: S1. The clamping assembly fixes the universal joint fork 3 on the fixed base 9. At the same time, the clamp drives the gear 22 to rotate through the second motor 23. The gear 22 drives the two racks 21 to move, so that the slider 19 slides towards each other in the slide groove 18, thereby clamping the cross shaft 2 through the clamping rod 20. Then, the second telescopic rod 11 pushes the sliding seat 1 to move along the sliding rod 10 toward the universal joint fork 3, so that the cross shaft 2 approaches the shaft hole 4.

[0036] S2. The adjustment assembly begins to operate: the first telescopic rod 6 pushes the clamp and cross shaft 2 to move, so that one end of the cross shaft 2 is inserted into a shaft hole 4 of the universal joint fork 3; then, the first motor 12 drives the rotating shaft 5 to rotate, and the rotating shaft 5 causes the clamp and cross shaft 2 to rotate around the central axis z of the rotating shaft 5 (which is located in the shaft hole 4) through the first telescopic rod 6, gradually reducing the angle between the cross shaft 2 and the other shaft hole 4; S3. Adjust the position again by using the first telescopic rod 6 to bring the other end of the cross shaft 2 closer to the other shaft hole 4.

[0037] S4. The striking rod 7 rotates towards the shaft hole 4 under the push of the external electric telescopic rod. When the striking rod 7 reaches the vertical state, the electric telescopic rod stops driving. The striking rod 7 and the counterweight 8 fall by gravity, applying force evenly to the cross shaft 2, so that it is completely squeezed into the shaft hole 4, and the assembly is completed. S5. After assembly, the first telescopic rod 6 and the rotating shaft 5 adjust the position of the clamp so that the reset block 14 coincides with the reset groove 13 and the reset plate 15 is flush with the top of the sliding seat 1, ensuring that the cross shaft 2 and the shaft hole 4 are concentric, which facilitates the subsequent sleeve installation.

[0038] In summary, this invention, through the coordinated operation of the adjustment components and the fixture, can precisely control the position and orientation of the cross shaft 2, enabling it to gradually align with the shaft hole 4 of the universal joint fork 3 during assembly. This design avoids alignment errors caused by manual operation, ensuring that the cross shaft 2 can smoothly engage with the shaft hole 4, significantly improving assembly accuracy and first-time success rate, reducing part damage or assembly failures caused by misalignment, and enhancing process stability. The first motor 12, the second motor 23, the first telescopic rod 6, and the second telescopic rod 11 achieve full automation of the clamping, position adjustment, rotation, and final striking of the cross shaft 2. This greatly reduces manual intervention, shortens the assembly time of individual parts, is suitable for mass production, effectively improves the overall production efficiency of the universal joint assembly, and reduces labor intensity and management costs. By setting up the adjustment component, which allows the fixture to drive the cross shaft 2 to perform multi-degree-of-freedom movements, including translation and rotation, it can adapt to different shaft holes 4 of the universal joint fork 3. Position and angle; the design of notch 16 provides space for the insertion of cross shaft 2, ensuring that even with slight manufacturing errors in the parts, the robot can complete the assembly through dynamic adjustment, enhancing the system's fault tolerance to actual working conditions and expanding its applicability; the fixed seat 9 and sliding rod 10 provide stable guiding support for sliding seat 1, and the second telescopic rod 11 controls the precise movement of sliding seat 1; the clamping assembly firmly fixes the universal joint fork 3 to prevent displacement during assembly; the striking rod 7 and counterweight 8 apply a uniform striking force using gravity to ensure that cross shaft 2 is fully inserted, avoiding overshoot or insufficient force, and ensuring the tightness and long-term reliability of the assembly; the reset groove 13 and reset block 14 enable the fixture to quickly reset after assembly, keeping the two shafts of cross shaft 2 concentric with the shaft hole 4, creating ideal conditions for the subsequent installation of the sleeve; this integrated design simplifies the workflow, avoids secondary adjustments, improves the continuity and efficiency of the entire universal joint assembly line, and reduces downtime.

[0039] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0040] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] The devices or elements referred to in the embodiments of this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of this application. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0042] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automated assembly robot based on the machining of a cross-shaped universal joint, comprising a sliding base, one end of which is provided with a fixture for clamping the cross-shaped universal joint, characterized in that: An adjustment assembly is provided between the sliding seat and the clamp. The adjustment assembly is used to adjust the position of the cross shaft so that the cross shaft can be engaged into the shaft hole of the universal joint fork. The adjustment assembly includes a rotating shaft and a first telescopic rod. The rotating shaft is rotatably connected to one end of the sliding seat, one end of the first telescopic rod is fixed to one end of the rotating shaft, and the other end of the first telescopic rod is fixed to the clamp. The central axis of the first telescopic rod is coaxial with the two axes of the cross shaft to be installed; During installation, the clamp moves the tilted cross shaft into the universal joint fork. Then, the first telescopic rod drives the clamp and cross shaft to move, so that one end of the cross shaft is inserted into one of the shaft holes. The clamp then rotates around the pivot, reducing the angle between the cross shaft and the shaft hole. The first telescopic rod then drives the clamp and cross shaft to move again, so that the other end of the cross shaft is close to the other shaft hole. Finally, external force is used to completely squeeze the cross shaft into the shaft hole, completing the installation.

2. The automated assembly robot based on universal joint machining as described in claim 1, characterized in that: A fixed seat is provided below the sliding seat, and a sliding rod is provided on the fixed seat. The sliding seat and the sliding rod are slidably connected. A second telescopic rod is connected between the ends of the sliding seat and the fixed seat. The universal joint fork to be installed is fixed by the clamping assembly, so that the universal joint fork to be installed is fixed on the fixed seat.

3. The automated assembly robot based on universal joint machining as described in claim 1, characterized in that: A striking rod is provided at one end of the sliding seat. The striking rod is used to fully force the cross shaft into the shaft hole. A counterweight is connected to the end of the striking rod near the shaft hole. The striking rod is rotatably mounted on the outer wall of the sliding seat.

4. The automated assembly robot based on universal joint machining as described in claim 1, characterized in that: A first motor is installed at one end of the rotating shaft. The first motor is fixedly installed on the outer wall of the sliding seat. The output shaft of the first motor is fixed to the rotating shaft, so that the first motor can drive the rotating shaft to rotate, and the clamp can drive the cross shaft to rotate.

5. The automated assembly robot based on universal joint machining as described in claim 1, characterized in that: The top of the sliding seat has a reset groove. A reset block is connected to one end of the clamp near the reset groove. The reset block matches the shape of the reset groove. A reset plate is set above the reset block. After the cross shaft and shaft hole are assembled, the position of the clamp is adjusted by the first telescopic rod and the rotating shaft so that the reset block coincides with the reset groove and the bottom end of the reset plate is flush with the top end of the sliding seat. At this time, the two shafts of the cross shaft are concentric with the shaft hole after installation.

6. The automated assembly robot based on universal joint machining as described in claim 1, characterized in that: The outer wall of the universal joint fork has a notch, which allows the cross shaft to be squeezed into the shaft hole.

7. The automated assembly robot based on universal joint machining as described in claim 5, characterized in that: The clamp includes a center block, one end of the first telescopic rod is fixed to the middle of the center block, and the two ends of the center block are provided with sliding grooves. The middle of the two sliding grooves are connected, and sliders are slidably installed inside the two sliding grooves. The ends of the two sliders are connected to clamping rods, and the distance between the two clamping rods on the same slider matches the outer diameter of the cross shaft. By bringing the two sliders closer to each other, the clamping rods can clamp the cross shaft.

8. The automated assembly robot based on universal joint machining as described in claim 7, characterized in that: Two sliders are connected to racks at their close ends. The two racks are symmetrically arranged about the central axis of the central block. A gear is located in the middle of the two racks and meshes with the two racks. A second motor is installed at one end of the gear and is mounted on the outer wall of the central block. The output shaft of the second motor is fixed to the gear.

9. The automated assembly robot based on universal joint machining as described in claim 7, characterized in that: The reset block is fixed to the outer wall of the central block, and a motor slot is provided in the middle of the reset block. The second motor is fixedly installed in the motor slot.

10. An automated assembly method based on the machining of a universal joint, employing the automated assembly robot based on the machining of a universal joint as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The clamp moves the tilted cross shaft into the universal joint fork; S2. The clamp and cross shaft are moved by the first telescopic rod, so that one end of the cross shaft is inserted into one of the shaft holes; S3. The fixture rotates around the pivot, reducing the angle between the cross shaft and the shaft hole. S4. The clamp and cross shaft are moved again by the first telescopic rod, so that the other end of the cross shaft is close to another shaft hole; S5. Use external force to fully insert the cross shaft into the shaft hole to complete the installation.

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