Universal joint cross gravity identification type assembly robot

Abstract

The present application relates to the technical fields of metal processing machine tool for universal joint, and discloses a universal joint cross shaft gravity identification type assembling robot, which comprises an assembling special table, a joint fork fixing mechanism, a shaft neck sleeve pressing mechanism and a cross shaft positioning mechanism are arranged on the table.The joint fork fixing mechanism fixes the joint fork through the clamping seat; the shaft neck sleeve pressing mechanism is driven by a horizontal pushing cylinder to push the pushing rod, and the shaft neck sleeve is pushed along the guide groove into the joint fork mounting hole; the cross shaft positioning mechanism supports the cross shaft through the arc-shaped support, and the support plate is fixed on the lifting plate which is slidingly connected to the table.The device detects the weight of the cross shaft by gravity sensing, adjusts the height of the lifting plate and the clamping seat through the lifting control structure, realizes the automatic alignment of the components, saves the time of manual alignment and improves the efficiency, is suitable for multiple model assembling and enhances the universality.

Description

Technical Field

[0001] This invention relates to the field of metalworking machine tools for universal joints, specifically to a universal joint cross-axis gravity recognition assembly robot. Background Technology

[0002] In the production and assembly process of universal joints, the assembly of the cross shaft, journal sleeve, and universal joint fork is a core process, and its assembly accuracy and efficiency directly affect the overall performance and production capacity of the universal joint. Currently, significant technical bottlenecks still exist in the industry regarding this process, mainly in the following two aspects:

[0003] On the one hand, traditional universal joint assembly relies heavily on manual labor or semi-automatic equipment. During manual assembly, operators must precisely align the journal of the universal joint cross shaft, the mounting hole of the universal joint fork, and the journal sleeve before pushing the journal sleeve to complete the connection. Even with semi-automatic equipment, manual assistance is still required to adjust the component positions to ensure alignment. Because universal joint components require high dimensional accuracy, manual alignment is not only time-consuming and labor-intensive, but also prone to human error leading to alignment deviations, thus affecting assembly quality. Furthermore, it significantly limits overall assembly efficiency, making it difficult to meet the demands of large-scale production.

[0004] On the other hand, existing assembly equipment has poor versatility. Different models of universal joint cross shafts differ in weight, journal dimensions, and the mounting hole positions of the universal joint forks. When switching assembly models, the positional parameters of the support structure and pushing mechanism on the equipment must be manually adjusted to adapt to the assembly requirements of the new model component. This process not only requires professional operators and is time-consuming, but is also prone to assembly accuracy issues due to parameter setting deviations. This results in the equipment being unable to quickly respond to the flexible production needs of multiple universal joint models, further increasing production scheduling and time costs.

[0005] In summary, the current field of universal joint assembly urgently needs an automated assembly device that can achieve automatic and precise alignment of components, adapt to multiple models without frequent manual adjustments, and effectively improve assembly efficiency and accuracy, in order to solve the technical problems of low efficiency and poor equipment versatility of manual alignment. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] To address the shortcomings of existing technologies, this invention provides a universal joint cross-axis gravity recognition assembly robot, which has the advantages of enabling automatic and precise alignment of parts, adapting to multiple models without frequent manual adjustments, and effectively improving assembly efficiency and accuracy. It solves the problems of time-consuming and laborious manual alignment of parts in current universal joint assembly, which is prone to errors, and the poor equipment versatility that requires frequent manual adjustments to model adaptation parameters.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A gravity-based assembly robot for universal joint cross shafts includes an assembly platform. The assembly platform is equipped with: a cross shaft positioning mechanism, comprising a journal support plate and a cross shaft lifting plate. The journal support plate supports the journal of the universal joint cross shaft and is fixed to the top of the lifting plate, while the bottom of the lifting plate is slidably connected to the interior of the assembly platform; a fork fixing mechanism, which has a fork clamping seat for fixing the universal joint fork; and a journal sleeve pressing mechanism, with two journal sleeve pressing mechanisms symmetrically arranged on the left and right sides of the fork fixing mechanism, which can slide left and right on the assembly platform. Each journal sleeve pressing mechanism is fixed with a horizontal pushing cylinder, which is slidably connected to a horizontal pushing rod. The horizontal pushing rod can push the journal sleeve to slide along a sleeve guide groove, with the end of the sleeve guide groove aligned with the mounting hole of the universal joint fork.

[0011] Preferably, the journal support plates of the cross shaft positioning mechanism are two symmetrically arranged front and rear, and each journal support plate is equipped with a journal arc-shaped support for supporting the cross shaft journal. The cross shaft positioning mechanism also includes a lifting control structure and a gravity sensing device disposed below the journal support plates. The lifting control structure includes a rack and pinion structure composed of a cross shaft lifting plate, a gear, and a lifting drive motor. The cross shaft lifting plate is provided with racks that mesh with the gear. The shaft of the gear is directly or indirectly connected to the output shaft of the lifting drive motor. The lifting drive motor can drive the gear to rotate and drive the cross shaft lifting plate to rise and fall. The gravity sensing device is installed on the gear or the lifting drive motor and is used to sense the weight of the universal joint cross shaft at the top of the journal support plate.

[0012] Preferably, the gear is provided with fixed gear positioning plates at both ends, the fixed gear positioning plates are fixed on the assembly table, and the fixed gear positioning plates are used to support the rotating shafts on both sides of the gear. The end of the lifting drive motor away from the output shaft is provided with a motor fixing plate, the motor fixing plate is fixed on the assembly table, and the motor fixing plate is used to support the lifting drive motor.

[0013] Preferably, the gravity sensing device is a pin-type pressure sensor, which is set at the positions where the gear shaft is connected to the fixed gear positioning plate at both ends, and is used to sense the magnitude of the downward force received by the gear from the cross shaft lifting plate when the gear is stationary.

[0014] Preferably, the gravity sensing device is a torque sensor installed in the lifting drive motor, which determines the gravity of the universal joint cross shaft by detecting the magnitude of the torque on the gear.

[0015] Preferably, the horizontal push rod has a push rod end for moving the journal sleeve. The push rod end has a journal positioning pin return spring and a spring bearing plate inside. One side of the spring bearing plate rests on the journal positioning pin return spring, and the other side has a journal positioning pin. The journal positioning pin passes through the push rod end. The journal sleeve has a through hole at the position of the journal positioning pin, so that the journal positioning pin passes through the journal sleeve.

[0016] The cross shaft journal has a journal positioning groove at its central axis. During installation, the journal positioning pin is aligned with the journal positioning groove. The edge of the journal positioning groove is chamfered. The journal positioning pin is inserted into the journal positioning groove to complete the positioning, thereby allowing the journal sleeve to be accurately fitted onto the outside of the cross shaft journal.

[0017] Preferably, the fork fixing mechanism is further fixed with a vertical drive cylinder below the assembly platform. The vertical drive cylinder is provided with a slidably connected vertical transmission push rod. The top of the vertical transmission push rod is fixed below the fork clamping seat, and the lifting and lowering of the fork clamping seat is controlled by the vertical transmission push rod.

[0018] (III) Beneficial Effects

[0019] Compared with the prior art, the present invention provides a universal joint cross-axis gravity recognition assembly robot, which has the following advantages:

[0020] 1. This device uses a fork fixing mechanism to fix the universal joint fork, and places the universal joint cross shaft on the journal arc support for positioning, so that the cross shaft journal and the through hole of the universal joint fork are precisely aligned. Then, a horizontal push rod is used to push the journal sleeve along the sleeve guide groove into the through hole and fit on the outside of the cross shaft journal, completing the assembly of a single universal joint fork. Subsequently, only the universal joint fork needs to be replaced and the operation repeated to complete the assembly of another pair of cross shaft journals. There is no need for manual alignment of the journal sleeve, through hole and cross shaft journal, which greatly shortens the alignment time and effectively improves the assembly efficiency.

[0021] 2. The device uses a gravity sensor in the cross shaft positioning mechanism to detect the weight of the universal joint cross shaft. Based on the weight, it matches the corresponding cross shaft model in the database. Then, the lifting control structure drives the cross shaft lifting plate to rise and fall. Simultaneously, in conjunction with related structures in the fork fixing mechanism, the fork clamping seat rises and falls, ensuring precise alignment of the central axis of the cross shaft journal with the central axis of the universal joint fork through hole and the sleeve guide groove. This eliminates the need for manual adjustment of components to fit different models, enabling automated assembly of various models of universal joint cross shafts and universal joint forks, thus improving the device's versatility and adaptability.

[0022] 3. This universal joint cross-axis gravity recognition assembly robot has a push rod end at the end of the horizontal push rod. Inside the push rod end, there is a journal positioning pin return spring and a spring bearing plate. One side of the spring bearing plate rests on the journal positioning pin return spring, and the other side has a journal positioning pin. The journal positioning pin passes through the push rod end. The journal sleeve has a through hole at the position corresponding to the journal positioning pin, so that the journal positioning pin passes through the journal sleeve. A journal positioning groove is provided at the central axis of the cross-axis journal. During installation, the journal positioning pin is aligned with the journal positioning groove. The edge of the journal positioning groove is chamfered. The journal positioning pin is inserted into the journal positioning groove to complete the positioning, so that the journal sleeve is accurately fitted onto the outside of the cross-axis journal. Under the action of the journal positioning pin return spring, the universal joint cross-axis automatically adjusts to the middle position, reducing installation errors. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the journal sleeve press-fitting mechanism of the present invention.

[0025] Figure 3 For the present invention Figure 2 A schematic diagram of the structure of region A in the middle.

[0026] Figure 4 This is a schematic diagram of the remaining structure after removing the journal sleeve press-fitting mechanism of the present invention.

[0027] Figure 5 This is a schematic diagram of the structure below the assembly platform of the present invention.

[0028] Figure 6 This is a schematic diagram of the fork fixing mechanism of the present invention.

[0029] Figure 7 This is a schematic diagram of the cross-axis positioning mechanism of the present invention.

[0030] Figure 8 This is a schematic diagram of the transmission part of the cross shaft positioning mechanism of the present invention.

[0031] Figure 9 This is a schematic diagram of the universal joint cross shaft of the present invention.

[0032] Figure 10 This is a schematic diagram of the universal joint fork of the present invention.

[0033] In the diagram: 1. Assembly platform; 2. Universal joint cross shaft; 3. Universal joint fork; 4. Fork fixing mechanism; 5. Journal sleeve pressing mechanism; 6. Cross shaft positioning mechanism; 21. Cross shaft journal; 211. Journal positioning groove; 22. Journal sleeve; 41. Vertical drive cylinder; 42. Vertical transmission push rod; 43. Fork clamping seat; 51. Horizontal push cylinder; 52. Horizontal push rod; 53. Sleeve guide groove; 521. Push rod end; 522. Journal positioning pin return spring; 524. Spring bearing plate; 523. Journal positioning pin; 61. Journal support plate; 62. Cross shaft lifting plate; 611. Journal arc support; 63. Gear; 64. Fixed gear positioning plate; 65. Lifting drive motor; 66. Motor fixing base plate. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] In addition, a fixed connection refers to a connection in which parts or components are fixed and there is no relative movement; a transmission connection refers to a connection in which mechanical motion or torque is transmitted to other working parts through a transmission component; a sliding connection refers to a connection in which two objects are in contact but not fixed and can slide relative to each other; and a rotational connection refers to a connection in which two objects are in contact but not fixed and can rotate relative to each other.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] Example 1:

[0039] This embodiment provides a universal joint cross-axis gravity recognition assembly robot, which has the following technical features.

[0040] Please see Figure 1-10 A universal joint cross-axis gravity recognition assembly robot includes an assembly platform 1. The assembly platform 1 is equipped with: a cross-axis positioning mechanism 6, which includes a journal support plate 61 and a cross-axis lifting plate 62. The journal support plate 61 supports the cross-axis journal 21 of the universal joint cross-axis 2, and is fixed to the top of the cross-axis lifting plate 62. The bottom of the cross-axis lifting plate 62 is slidably connected to the inside of the assembly platform 1; and a fork fixing mechanism 4. 4. A fork clamping seat 43 for fixing the universal joint fork 3 is provided; a journal sleeve pressing mechanism 5 is provided. Two journal sleeve pressing mechanisms 5 are symmetrically arranged on the left and right sides of the fork fixing mechanism 4 and can slide left and right on the assembly special table 1. A horizontal pushing cylinder 51 is fixed on any journal sleeve pressing mechanism 5. The horizontal pushing cylinder 51 is slidably connected to a horizontal pushing rod 52. The horizontal pushing rod 52 can push the journal sleeve 22 to slide along the sleeve guide groove 53, and the end of the sleeve guide groove 53 is aligned with the mounting hole of the universal joint fork 3.

[0041] Preferably, the journal support plates 61 of the cross shaft positioning mechanism 6 are two symmetrically arranged front and rear, and each journal support plate 61 is equipped with a journal arc-shaped support 611 for supporting the cross shaft journal 21; the cross shaft positioning mechanism 6 also includes a lifting control structure and a gravity sensing device arranged below the journal support plate 61. The lifting control structure includes a rack and tooth structure composed of a cross shaft lifting plate 62, a gear 63 and a lifting drive motor 65. The cross shaft lifting plate 62 is provided with rack teeth that mesh with the gear 63. The rotating shaft of the gear 63 is directly or indirectly connected to the output shaft of the lifting drive motor 65. The lifting drive motor 65 can drive the gear 63 to rotate and drive the cross shaft lifting plate 62 to rise and fall; the gravity sensing device is installed on the gear 63 or the lifting drive motor 65 and is used to sense the weight of the universal joint cross shaft 2 at the top of the journal support plate 61.

[0042] In an optional embodiment, a fixed gear positioning plate 64 is provided at both ends of the gear 63. The fixed gear positioning plate 64 is fixed on the assembly table 1 and is used to support the rotating shafts on both sides of the gear 63. A motor fixing plate 66 is provided at the end of the lifting drive motor 65 away from the output shaft. The motor fixing plate 66 is fixed on the assembly table 1 and is used to support the lifting drive motor 65.

[0043] In an optional embodiment, the gravity sensing device is a pin-type pressure sensor, which is located at both ends of the gear 63 shaft and connected to the fixed gear positioning plate 64, and is used to sense the magnitude of the downward force received by the gear 63 from the cross shaft lifting plate 62 when the gear 63 is stationary.

[0044] In an optional embodiment, the gravity sensing device is a torque sensor installed in the lifting drive motor 65, which determines the gravity of the universal joint cross shaft 2 by detecting the magnitude of the torque received by the gear 63.

[0045] In an optional embodiment, the horizontal push rod 52 is provided with a push rod end 521 at one end for pushing the journal sleeve 22 to move. The push rod end 521 is provided with a journal positioning pin return spring 522 and a spring bearing plate 524. One side of the spring bearing plate 524 rests on the journal positioning pin return spring 522, and the other side is provided with a journal positioning pin 523. The journal positioning pin 523 passes through the push rod end 521. The journal sleeve 22 is provided with a through hole at the position corresponding to the journal positioning pin 523, so that the journal positioning pin 523 passes through the journal sleeve 22.

[0046] The cross shaft journal 21 has a journal positioning groove 211 at the central shaft. During installation, the journal positioning pin 523 is aligned with the journal positioning groove 211. The edge of the journal positioning groove 211 is chamfered. The journal positioning pin 523 is inserted into the journal positioning groove 211 to complete the positioning, so that the journal sleeve 22 is accurately fitted onto the outside of the cross shaft journal 21.

[0047] In an optional embodiment, the fork fixing mechanism 4 is further fixed with a vertical drive cylinder 41 below the assembly platform 1. The vertical drive cylinder 41 is provided with a vertical transmission push rod 42 that is slidably connected. The top of the vertical transmission push rod 42 is fixed below the fork clamping seat 43, and the fork clamping seat 43 is raised and lowered by the vertical transmission push rod 42.

[0048] In an optional embodiment, the journal sleeve pressing mechanism 5 can be slid on the assembly table 1 by manually pushing it, or by a motor driving the lead screw to rotate, and the lead screw cooperates with the nut provided on the journal sleeve pressing mechanism 5 to drive the journal sleeve pressing mechanism 5 to slide.

[0049] In an optional embodiment, the assembly platform 1 can be the top cover of a box, with the bottom of the vertical drive cylinder 41 fixed to the bottom surface inside the box, and the journal support plate 61 and the motor mounting plate 66 fixed below the top surface inside the box.

[0050] In an optional embodiment, the two horizontal push cylinders 51 are connected and controlled within the same hydraulic system, and the hydraulic system controls the two horizontal push cylinders 51 to extend and retract synchronously.

[0051] In an optional embodiment, the structure on the fork clamping seat 43 for fixing the universal joint fork 3 is a clamping structure on a conventional vehicle body chuck for fixing the axle, used to fix the bottom of the universal joint fork 3 to the axle at the central shaft of the fork clamping seat 43.

[0052] In summary, this universal joint cross shaft gravity recognition assembly robot first fixes the universal joint fork 3 to the fork clamping seat 43 through the fork fixing mechanism 4. Then, the universal joint cross shaft 2 is placed in the journal arc support 611, so that the cross shaft journal 21 is aligned with the through hole on the universal joint fork 3. Then, the journal sleeve 22 is pushed by the horizontal push rod 52, so that the journal sleeve 22 is pushed into the through hole of the universal joint fork 3 along the sleeve guide groove 53, so that the journal sleeve 22 is sleeved on the outside of the cross shaft journal 21, completing the assembly of one universal joint fork 3 on the universal joint cross shaft 2. After removing the universal joint fork 3, the other universal joint fork 3 is installed in the fork clamping seat 43, and the above steps are repeated to complete the assembly of the other pair of cross shaft journals 21. This device saves the time required for manual assembly to align the journal sleeve 22, the through hole on the universal joint fork 3 and the cross shaft journal 21, thus speeding up the assembly efficiency.

[0053] This universal joint cross shaft gravity recognition assembly robot has a lifting control structure and a gravity sensing device at the bottom of the cross shaft lifting plate 62 at both ends of the journal support plate 61, and a vertical drive cylinder 41 and a vertical transmission push rod 42 at the bottom of the fork clamping seat 43. When assembling a universal joint cross shaft 2 for the first time, the gravity sensing device detects the gravity of the universal joint cross shaft 2 on the journal support plate 61. Based on the gravity of the universal joint cross shaft 2, the model of the universal joint cross shaft 2 can be matched with the database. Based on the model of the universal joint cross shaft 2, the lifting control structure is controlled to drive the cross shaft lifting plate 62 to lift and lower, and the vertical transmission push rod 42 is controlled to push the fork clamping seat 43 to lift and lower, so that the central axis of the cross shaft journal 21 is aligned with the central axis of the through hole of the universal joint fork 3 and the sleeve guide groove 53, thereby realizing automated assembly of various models of universal joint cross shaft 2 and universal joint fork 3.

[0054] This universal joint cross-axis gravity recognition assembly robot has a push rod end 521 at the end of the horizontal push rod 52. Inside the push rod end 521, there is a journal positioning pin return spring 522 and a spring bearing plate 524. One side of the spring bearing plate 524 rests against the journal positioning pin return spring 522, and the other side has a journal positioning pin 523. The journal positioning pin 523 protrudes from the push rod end 521. The journal sleeve 22 has a through hole at the position corresponding to the journal positioning pin 523, thus allowing the journal positioning pin 523 to pass through. A journal positioning slot 211 is provided at the central axis of the cross shaft journal 21 through the journal sleeve 22. During installation, the journal positioning pin 523 is aligned with the journal positioning slot 211. The edge of the journal positioning slot 211 is chamfered. The journal positioning pin 523 is inserted into the journal positioning slot 211 to complete the positioning, so that the journal sleeve 22 is accurately fitted on the outside of the cross shaft journal 21. Under the action of the journal positioning pin return spring 522, the universal joint cross shaft 2 is automatically adjusted to the middle position, reducing the error during installation.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A universal joint cross-axis gravity recognition assembly robot, comprising an assembly table (1), characterized in that, The assembly table (1) is equipped with a cross shaft positioning mechanism (6), which includes a journal support plate (61) and a cross shaft lifting plate (62). The journal support plate (61) is used to support the cross shaft journal (21) of the universal joint cross shaft (2), and the journal support plate (61) is fixed to the top of the cross shaft lifting plate (62). The bottom of the cross shaft lifting plate (62) is slidably connected to the inside of the assembly table (1). A fork fixing mechanism (4) is provided for fixing the universal joint fork (3). Fork clamping seat (43); journal sleeve pressing mechanism (5), two journal sleeve pressing mechanisms (5) are symmetrically arranged on the left and right sides of the fork fixing mechanism (4) and can slide left and right on the assembly special table (1). A horizontal pushing cylinder (51) is fixed on any journal sleeve pressing mechanism (5). The horizontal pushing cylinder (51) is slidably connected to the horizontal pushing rod (52). The horizontal pushing rod (52) can push the journal sleeve (22) to slide along the sleeve guide groove (53), and the end of the sleeve guide groove (53) is aligned with the mounting hole of the universal joint fork (3); The journal support plates (61) of the cross shaft positioning mechanism (6) are two symmetrically arranged front and back. Each journal support plate (61) is equipped with a journal arc-shaped bracket (611) for supporting the cross shaft journal (21). The cross shaft positioning mechanism (6) also includes a lifting control structure and a gravity sensing device arranged below the journal support plate (61). The lifting control structure includes a rack and tooth structure composed of a cross shaft lifting plate (62), a gear (63) and a lifting drive motor (65). The cross shaft lifting plate (62) is provided with rack teeth that mesh with the gear (63). The rotating shaft of the gear (63) is directly or indirectly connected to the output shaft of the lifting drive motor (65). The lifting drive motor (65) can drive the gear (63) to rotate and drive the cross shaft lifting plate (62) to lift. The gravity sensing device is installed on the gear (63) or the lifting drive motor (65) to sense the weight of the universal joint cross shaft (2) at the top of the journal support plate (61). The gear (63) is provided with fixed gear positioning plates (64) at both ends. The fixed gear positioning plates (64) are fixed on the assembly table (1). The fixed gear positioning plates (64) are used to support the rotating shafts on both sides of the gear (63). The end of the lifting drive motor (65) away from the output shaft is provided with a motor fixing plate (66). The motor fixing plate (66) is fixed on the assembly table (1). The motor fixing plate (66) is used to support the lifting drive motor (65). The gravity sensing device is a pin-type pressure sensor. The pin-type pressure sensor is set at the position where the two ends of the gear (63) shaft are connected to the fixed gear positioning plate (64). It is used to sense the magnitude of the downward force exerted by the cross shaft lifting plate (62) on the gear (63) when it is stationary.

2. The universal joint cross-axis gravity recognition assembly robot according to claim 1, characterized in that, The gravity sensing device is a torque sensor installed in the lifting drive motor (65), which determines the gravity of the universal joint cross shaft (2) by detecting the magnitude of the torque on the gear (63).

3. The universal joint cross-axis gravity recognition assembly robot according to claim 1, characterized in that, The horizontal push rod (52) is provided with a push rod end (521) at one end for pushing the journal sleeve (22) to move. The push rod end (521) is provided with a journal positioning pin return spring (522) and a spring bearing plate (524). One side of the spring bearing plate (524) rests on the journal positioning pin return spring (522), and the other side is provided with a journal positioning pin (523). The journal positioning pin (523) passes through the push rod end (521). The journal sleeve (22) is provided with a through hole at the position corresponding to the journal positioning pin (523), so that the journal positioning pin (523) passes through the journal sleeve (22). The cross shaft journal (21) is provided with a journal positioning groove (211) at the central shaft. During installation, the journal positioning pin (523) is aligned with the journal positioning groove (211). The edge of the journal positioning groove (211) is chamfered. The journal positioning pin (523) is inserted into the journal positioning groove (211) to complete the positioning, so that the journal sleeve (22) is accurately fitted onto the outside of the cross shaft journal (21).

4. The universal joint cross-axis gravity recognition assembly robot according to claim 1, characterized in that, The fork fixing mechanism (4) is also fixed with a vertical drive cylinder (41) below the assembly platform (1). The vertical drive cylinder (41) is provided with a sliding vertical transmission push rod (42). The top of the vertical transmission push rod (42) is fixed below the fork clamping seat (43). The vertical transmission push rod (42) controls the lifting and lowering of the fork clamping seat (43).

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