Ball loading device

Abstract

The invention relates to the technical field of mechanical automatic assembly, in particular to a ball loading device. Comprising a rack; the rotating table is mounted on the rack and is used for placing a nut to be loaded with a ball; the first linear module is mounted on the rack and located above the rotating table; the mounting seat is mounted on the first linear module; the ball storage and supply assembly is mounted on the mounting seat; the second linear module is mounted on the mounting seat; the ball limiting tool is mounted on the second linear module, and a ball limiting hole is formed in the ball limiting tool; the ball loading tool is fixed on the mounting seat and corresponds to the ball loading station, and a vertical channel and an inclined channel communicated with the lower end of the vertical channel are arranged in the ball loading tool; the straight ball poking mechanism is mounted on the mounting seat and is positioned above the ball loading tool; the inclined ball poking mechanism is mounted on the mounting seat and is positioned on the side of the ball mounting tool; according to the device, automatic, quantitative and accurate feeding is achieved, accurate positioning and path alignment of workpieces are completed, and stable transferring and reliable loading of steel balls are ensured.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation assembly technology, and in particular to a ball loading device. Background Technology

[0002] In the manufacturing process of precision mechanical transmission components, such as ball screws, it is necessary to precisely install multiple small-diameter steel balls into the annular raceway inside the nut. Due to the small size and large number of steel balls, and the limited space at the raceway entrance, this assembly operation requires high precision and is very difficult.

[0003] In existing technologies, common automatic or semi-automatic ball loading mechanisms typically employ a vibratory feeder combined with a unidirectional pushing mechanism. However, this approach has significant shortcomings: First, for tiny balls, vibratory feeder feeding struggles to achieve precise quantitative control, easily leading to discrepancies in the number of balls loaded into the raceway, affecting product performance. Second, the simple linear pushing method makes it difficult to perfectly match the ball's trajectory with the arc or inclined inlet of the nut raceway, easily causing ball jamming, misalignment, or scattering at the pushing end, resulting in assembly failure, low efficiency, and even damage to the workpiece.

[0004] Therefore, there is an urgent need for a specialized device that can automatically, quantitatively, accurately and reliably load steel balls into the nut raceway to overcome the shortcomings of existing technologies and meet the demands for high-efficiency and high-quality production. Summary of the Invention

[0005] The purpose of this invention is to provide a ball loading device to solve the technical problems of inaccurate quantity control, difficulty in aligning the loading path, and easy jamming during the assembly of steel balls in the prior art.

[0006] In a first aspect, the present invention provides a ball-loading device, comprising: frame; A rotary table, mounted on the frame, is used to hold nuts for loading balls; The first linear module is mounted on the frame and located above the rotary table; The mounting base is installed on the first linear module and is driven by the first linear module to perform lifting and lowering movements; A ball storage and supply assembly is mounted on the mounting base; The second linear module is mounted on the mounting base; A ball-limiting fixture is installed on the second linear module and driven by the second linear module to move horizontally between the loading station and the ball-loading station. The ball-limiting fixture is provided with a ball-limiting hole, the depth of which is configured to accommodate a predetermined number of steel balls. A ball-loading fixture is fixed on the mounting base and corresponds to the ball-loading station. It has a vertical channel and an inclined channel communicating with the lower end of the vertical channel inside. A ball-poke mechanism is mounted on the mounting base and located above the ball-loading fixture; An oblique ball-poke mechanism is mounted on the mounting base and located to the side of the ball-loading fixture; The ball storage and supply assembly is used to supply steel balls into the ball limiting hole of the ball limiting fixture located at the loading station. When the ball limiting fixture moves to the ball loading station and the first linear module drives the mounting base to descend to the working position, the lower end of the ball loading fixture is inserted into the nut, so that the outlet of the inclined channel is aligned with the raceway inlet of the nut. At the same time, the ball limiting hole is directly opposite the upper end of the vertical channel. The straight ball-push mechanism pushes the steel balls in the ball limiting hole into the vertical channel and into the inclined channel. Subsequently, the inclined ball-push mechanism pushes the steel balls from the inclined channel into the raceway of the nut.

[0007] In an optional embodiment, a quantity detection mechanism is further included. The quantity detection mechanism is installed on the mounting base and corresponds to the detection station located between the loading station and the ball loading station. The second linear module drives the ball limiting fixture to pass sequentially through the loading station, the detection station, and the ball loading station. When the ball limiting fixture is located at the detection station, the quantity detection mechanism is used to detect whether the number of steel balls in the ball limiting hole reaches the predetermined number.

[0008] In an optional embodiment, the quantity detection mechanism includes a lifting cylinder and a distance sensor, wherein the lifting cylinder is mounted on the mounting base and the distance sensor is mounted on the output end of the lifting cylinder.

[0009] In an optional embodiment, the ball-penetrating mechanism includes a first cylinder, a linear guide rail, a first mounting block, and a first poking rod. The first cylinder and the linear guide rail are mounted on the mounting base. The first mounting block is slidably connected to the linear guide rail and connected to the output end of the first cylinder. The first poking rod is fixed on the first mounting block. The first cylinder drives the first mounting block to move along the linear guide rail, thereby driving the first poking rod to insert into the ball-limiting hole in the vertical direction.

[0010] In an optional embodiment, the straight-poke ball mechanism further includes a first displacement sensor for detecting the movement stroke of the first mounting block or the first poke rod.

[0011] In an optional embodiment, the oblique poking mechanism includes a second cylinder, a second mounting block, and a second poking rod. The second cylinder is mounted on the mounting base, the second mounting block is connected to the output end of the second cylinder, and the second poking rod is fixed on the second mounting block. The second cylinder drives the second mounting block and the second poking rod to move in a direction parallel to the oblique channel, so that the second poking rod is inserted into the oblique channel.

[0012] In an optional embodiment, the oblique poking ball mechanism further includes a second displacement sensor for detecting the movement stroke of the second mounting block or the second poking rod.

[0013] In an optional embodiment, a guide seat is further included, which is fixed to the mounting base and together with the mounting base defines a horizontally extending guide slide; the ball limiting device is located within the guide slide.

[0014] In an optional embodiment, the guide seat is provided with a guide hole that runs vertically through the body; when the ball limiting fixture moves to the ball loading station, the guide hole, the ball limiting hole, and the upper port of the vertical channel of the ball loading fixture are coaxial.

[0015] In an optional embodiment, the ball storage and supply assembly includes a hopper and a ball supply channel. The hopper is installed on the mounting base for storing steel balls. The upper end of the ball supply channel is connected to the bottom outlet of the hopper, and the lower end is the ball outlet. When the ball limiting fixture moves to the loading station, the ball outlet of the ball supply channel is directly above the ball limiting hole.

[0016] Compared with the prior art, the ball loading device provided by the present invention has the following technical advantages: First, automated, quantitative, and precise feeding is achieved. A ball-supply assembly automatically supplies steel balls, and the precisely calculated depth of the ball-limiting holes on the ball-limiting fixture ensures that the number of steel balls transferred to the loading station each time is consistently a predetermined value (e.g., 16 balls). This physical limiting method is more direct and reliable than electronic counting, eliminating quantity errors at the source and laying the foundation for consistency in subsequent assembly. Second, precise workpiece positioning and path alignment are achieved. A first linear module drives the entire mounting base and ball-loading fixture to rise and fall. Combined with a rotary table for carrying the nut, the depth and position of the ball-loading fixture's lower end inserted into the nut can be precisely controlled. This action allows the inclined channel outlet inside the ball-loading fixture to achieve precise microscopic alignment with the inlet of the nut raceway, creating precise path guidance conditions for the smooth injection of steel balls. Furthermore, stable transfer and reliable loading of steel balls are ensured through a two-stage relay-style feeding mechanism—a "straight ball-poke mechanism" and an "inclined ball-poke mechanism"—perfectly adapting to the change in the steel ball's movement path. The straight-push mechanism vertically pushes the entire row of steel balls from the horizontal limiting holes into the vertical channel, completing the first transfer. The inclined-push mechanism then pushes the balls a second time along the inclined channel, naturally aligning the movement of the steel balls with the already aligned raceway inlet direction. This two-stage pushing mechanism avoids the risk of path abrupt changes and jamming that may occur in a single action, greatly improving the reliability and success rate of assembly. Furthermore, it boasts a high degree of integration and automation. The device integrates multiple functional modules such as storage and supply, limiting, transfer, alignment, and pushing into a system coordinated and controlled by the first and second linear modules. The entire process, from material loading to installation, is automated and cyclical. The actions at each station are strictly sequenced and closely connected, significantly improving assembly efficiency, reducing manual intervention and labor intensity, and making it suitable for large-scale production.

[0017] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 This is a schematic diagram of the ball-spinning mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the oblique ball-poke mechanism provided in an embodiment of the present invention.

[0020] Icons: 1-Frame; 2-First linear module; 3-Mounting base; 4-Bag; 5-Ball supply channel; 6-Second linear module; 7-Ball limiting fixture; 8-Ball loading fixture; 9-Straight ball-poke mechanism; 10-Angled ball-poke mechanism; 11-Guide seat; 12-Guide hole; 13-Quantity detection mechanism; 14-Rotating table; 15-Distance sensor; 16-Lifting cylinder; 17-First cylinder; 18-Linear guide rail; 19-First gripper; 20-First poke rod; 21-Second cylinder; 22-Second gripper; 23-Second poke rod; 24-Second displacement sensor. Detailed Implementation

[0021] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0026] The specific structure is as follows: Figures 1 to 3 As shown.

[0027] This embodiment provides a ball loading device including a frame 1 as an integral support structure. A rotary table 14 is fixedly mounted on the frame 1, and its table surface is used to position and support the nut into which steel balls are to be loaded. The rotary table 14 can be equipped with a drive motor to achieve precise indexing rotation, so that the raceways of the nut can be sequentially aligned with the ball loading positions.

[0028] A first linear module 2 is vertically mounted on the frame 1, directly above the rotary table 14. The first linear module 2 is preferably a ball screw module driven by a servo motor to ensure high-precision lifting and positioning. A mounting base 3 is fixedly connected to the sliding component of the first linear module 2, allowing it to be precisely driven by the first linear module 2 to perform vertical lifting and lowering movements.

[0029] A ball storage and supply assembly is installed on the mounting base 3. In this embodiment, one specific implementation of the ball storage and supply assembly includes a hopper 4 and a ball supply channel 5. The hopper 4 is a cylindrical container fixed above the mounting base 3 and is used to store a large number of steel balls. The upper end of the ball supply channel 5 is sealed to the discharge port at the bottom of the hopper 4, and the lower end forms a ball outlet. This embodiment is not limited to this; the ball storage and supply assembly can also adopt a combination of a vibratory feeder and a linear feeder, which supplies steel balls to subsequent workstations through vibration sorting and directional conveying.

[0030] A second linear module 6 is horizontally mounted on the mounting base 3. This module is preferably a precision linear motor module or a ball screw module. A ball-limiting fixture 7 is fixedly mounted on the sliding component of the second linear module 6. The ball-limiting fixture 7 is a rectangular block with a cylindrical ball-limiting hole machined inside. This ball-limiting hole is a through hole. Its diameter is slightly larger than the diameter of a single steel ball, and its depth (i.e., length) is precisely calculated to accommodate a predetermined number (e.g., 16) of tightly packed steel balls; any more than this would prevent complete insertion, thus achieving physical limiting and quantitative control.

[0031] A ball-loading fixture 8 is rigidly fixed to the mounting base 3 by a bracket, and its position corresponds to the ball-loading station described later. The ball-loading fixture 8 has interconnected vertical and inclined channels machined inside. The vertical channel can be tapered (wider at the top, narrower at the bottom) or cylindrical (straight cylinder) to facilitate the receiving of steel balls, but it can also be a channel with a constant diameter. The inclined channel extends from the lower side wall of the vertical channel, and its inclination angle matches the inclination angle of the raceway inlet of the nut to be assembled.

[0032] A ball-poke mechanism 9 is mounted on a mounting base 3 and located directly above the ball-loading fixture 8. Specifically, the ball-poke mechanism 9 of this embodiment includes a first cylinder 17, a linear guide rail 18, a first mounting block, and a first poke rod 20. The cylinder body of the first cylinder 17 and the track of the linear guide rail 18 are both fastened to the mounting base 3 by bolts. The first mounting block is fixedly connected to the slider of the linear guide rail 18 and also connected to the front end of the piston rod of the first cylinder 17. The first poke rod 20 is a slender rigid rod, which is vertically fastened to the first mounting block. When the first cylinder 17 is activated, it can drive the first mounting block to make precise vertical reciprocating motion along the linear guide rail 18, thereby driving the first poke rod 20 to perform downward and upward actions. To further improve control accuracy, this embodiment also provides a first displacement sensor near the first cylinder 17 to detect the absolute movement stroke of the first mounting block or the first poke rod 20 in real time and feed the signal back to the control system. This embodiment is not limited to this; the straight ball mechanism 9 can also adopt an electric actuation form of a ball screw driven by a servo motor to achieve more flexible speed and position control.

[0033] A slanted ball-poke mechanism 10 is mounted on a mounting base 3 and located on the side of a ball-loading fixture 8, with its thrust direction parallel to the axis of the slanted channel within the ball-loading fixture 8. Specifically, the slanted ball-poke mechanism 10 of this embodiment includes a second cylinder 21, a second mounting block, and a second poke rod 23. The cylinder body of the second cylinder 21 is fixed to the side plate of the mounting base 3. The second mounting block is connected to the front end of the piston rod of the second cylinder 21. The second poke rod 23 is a rigid rod of a certain length, which is fastened to the second mounting block, and its axis coincides with the axis of the slanted channel. When the second cylinder 21 is activated, it can drive the second mounting block and the second poke rod 23 to perform linear reciprocating motion along the slant. Similarly, this embodiment is provided with a second displacement sensor 24 for real-time detection of the movement stroke of the second mounting block or the second poke rod 23. Similarly, the second cylinder 21 in the slanted ball-poke mechanism 10 can also be replaced by a linear drive element such as an electric push rod.

[0034] In this embodiment, the first mounting block may be the first gripper 19, which facilitates the disassembly of the first sting rod 20, but may also be other structures capable of mounting the first sting rod 20; the second mounting block may be the second gripper 22, which facilitates the disassembly of the second sting rod 23, but may also be other structures capable of mounting the second sting rod 23.

[0035] To ensure the stability and positional accuracy of the ball-limiting fixture 7 during horizontal movement, the device also includes a guide seat 11. This guide seat 11 is bolted to the bottom of the mounting base 3, and its inner side, together with the mounting base 3, encloses a horizontal guide track. The ball-limiting fixture 7 is constrained to slide within this guide track, effectively preventing it from swaying or tilting during movement.

[0036] A guide hole 12 is also machined on the guide seat 11. The guide hole 12 is a smooth round hole that runs through the guide seat 11 from top to bottom. When the ball limiting fixture 7 is driven to the ball loading station by the second linear module 6, the guide hole 12, the ball limiting hole on the ball limiting fixture 7, and the upper port of the vertical channel of the ball loading fixture 8 are coaxial.

[0037] Furthermore, this embodiment also includes a quantity detection mechanism 13, which is mounted on the mounting base 3 and corresponds to a detection station located between the loading station and the ball loading station. The quantity detection mechanism 13 includes a lifting cylinder 16 and a distance sensor 15 (such as a laser displacement sensor). The cylinder body of the lifting cylinder 16 is fixed to the mounting base 3, and the distance sensor 15 is mounted at the end of its piston rod. When the ball-limiting fixture 7 moves to the detection station, the lifting cylinder 16 drives the distance sensor 15 to descend, aligning its probe vertically with the center of the ball-limiting hole. It then measures the distance to the surface of the topmost steel ball inside the hole by emitting and receiving a laser beam. Since the depth of the ball-limiting hole and the diameter of the steel ball are known, the control system can accurately deduce the actual number of steel balls inside the hole by calculating this distance value and compare it with a preset value.

[0038] Workflow and technical effects: Feeding and Quantification: The second linear module 6 drives the ball-limiting fixture 7 to the feeding station, with the lower end of the ball supply channel 5 aligned with its ball-limiting hole. Steel balls fall into the ball-limiting hole until the predetermined quantity is filled. This achieves automatic steel ball supply and precise quantitative measurement based on physical structure, ensuring absolute consistency in the quantity of each assembly from the source.

[0039] Quantity Verification: The second linear module 6 drives the ball-limiting fixture 7 to the inspection station. The lifting cylinder 16 of the quantity inspection mechanism 13 drives the distance sensor 15 to descend for non-contact distance measurement. This forms a closed-loop verification of the quantitative results. The intermediate inspection process further ensures the reliability of assembly quality and eliminates quantity anomalies caused by accidental gaps or blockages.

[0040] Precise alignment: If the quantity is correct, the second linear module 6 drives the ball-limiting fixture 7 to move to the ball-loading station. As the first linear module 2 drives the entire mounting base 3 to descend, the lower end of the ball-loading fixture 8 is precisely inserted into the nut on the rotary table 14, with its inclined channel outlet aligned with the nut raceway inlet. At this point, the ball-limiting hole, guide hole 12, and the upper opening of the vertical channel are coaxial. The precise lifting and lowering of the first linear module 2 achieves microscopic alignment between the ball-loading fixture 8 and the nut, creating crucial path conditions for the smooth injection of steel balls.

[0041] First-stage transfer (straight push): The first cylinder 17 of the straight push ball mechanism 9 drives the first push rod 20 to move downwards. Guided by the guide hole 12, the first push rod 20 is precisely inserted into the ball-limiting hole, pushing the entire row of steel balls in the hole into the vertical channel of the ball-loading fixture 8 in one go. The first displacement sensor ensures that the stroke is in place. Through the guidance of the guide hole 12 and the guarantee of the linear guide rail 18, the straightness and stability of the push rod movement are achieved, ensuring the reliable and complete transfer of the steel balls from the limiting hole to the transfer channel.

[0042] Secondary insertion (oblique insertion): The steel ball slides down the vertical channel and gathers at the inflection point of the oblique channel. The second cylinder 21 of the oblique insertion ball mechanism 10 drives the second insertion rod 23 to move obliquely, smoothly pushing the gathered steel ball out along the oblique channel aligned with the raceway inlet direction, accurately injecting it into the nut raceway. The second displacement sensor 24 controls the insertion depth. Through oblique pushing in the same direction as the raceway, a natural transition and precise termination of the steel ball's movement direction are achieved, greatly reducing the risk of jamming and completing the final assembly.

[0043] Reset cycle: Each mechanism resets sequentially, the rotary table 14 is indexed, and preparation for the next assembly is made. The guide slide formed by the guide seat 11 ensures that the ball limiting fixture 7 switches quickly, smoothly, and accurately between each station.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ball-loading device, characterized in that, include: Rack (1); A rotating table (14) is mounted on the frame (1) for placing nuts for loading balls; The first linear module (2) is mounted on the frame (1) and located above the rotary table (14); Mounting base (3) is mounted on the first linear module (2) and driven by the first linear module (2) to perform lifting and lowering movements; The ball storage and supply assembly is installed on the mounting base (3); The second linear module (6) is mounted on the mounting base (3); The ball limiting fixture (7) is installed on the second linear module (6) and is driven by the second linear module (6) to move horizontally between the loading station and the ball loading station. The ball limiting fixture (7) is provided with a ball limiting hole, and the depth of the ball limiting hole is configured to accommodate a predetermined number of steel balls. The ball loading fixture (8) is fixed on the mounting base (3) and corresponds to the ball loading station. It has a vertical channel and an inclined channel connected to the lower end of the vertical channel. The ball-poke mechanism (9) is installed on the mounting base (3) and located above the ball-loading fixture (8); The oblique ball-poking mechanism (10) is installed on the mounting base (3) and located to the side of the ball-poking fixture (8); The ball storage and supply assembly is used to supply steel balls into the ball limiting hole of the ball limiting fixture (7) located at the loading station. When the ball limiting fixture (7) moves to the ball loading station and the first linear module (2) drives the mounting base (3) to descend to the working position, the lower end of the ball loading fixture (8) is inserted into the nut, so that the outlet of the inclined channel is aligned with the raceway inlet of the nut. At the same time, the ball limiting hole is directly opposite the upper end of the vertical channel. The straight ball pushing mechanism (9) pushes the steel balls in the ball limiting hole into the vertical channel and into the inclined channel. Then the inclined ball pushing mechanism (10) pushes the steel balls from the inclined channel into the raceway of the nut.

2. The ball-loading device according to claim 1, characterized in that, It also includes a quantity detection mechanism (13), which is installed on the mounting base (3) and corresponds to the detection station set between the loading station and the ball loading station; the second linear module (6) drives the ball limiting fixture (7) to pass through the loading station, the detection station and the ball loading station in sequence; when the ball limiting fixture (7) is located at the detection station, the quantity detection mechanism (13) is used to detect whether the number of steel balls in the ball limiting hole reaches the predetermined number.

3. The ball-loading device according to claim 2, characterized in that, The quantity detection mechanism (13) includes a lifting cylinder (16) and a distance sensor (15). The lifting cylinder (16) is mounted on the mounting base (3), and the distance sensor (15) is mounted on the output end of the lifting cylinder (16).

4. The ball loading device according to claim 3, characterized in that, The ball-penetrating mechanism (9) includes a first cylinder (17), a linear guide rail (18), a first mounting block, and a first poking rod (20). The first cylinder (17) and the linear guide rail (18) are mounted on the mounting base (3). The first mounting block is slidably connected to the linear guide rail (18) and connected to the output end of the first cylinder (17). The first poking rod (20) is fixed on the first mounting block. The first cylinder (17) drives the first mounting block to move along the linear guide rail (18), thereby driving the first poking rod (20) to be inserted into the ball-limiting hole in the vertical direction.

5. The ball-loading device according to claim 4, characterized in that, The straight-poke ball mechanism (9) also includes a first displacement sensor, which is used to detect the movement of the first mounting block or the first poke rod (20).

6. The ball-loading device according to claim 1, characterized in that, The oblique ball-poke mechanism (10) includes a second cylinder (21), a second mounting block, and a second poke rod (23). The second cylinder (21) is mounted on the mounting base (3). The second mounting block is connected to the output end of the second cylinder (21). The second poke rod (23) is fixed on the second mounting block. The second cylinder (21) drives the second mounting block and the second poke rod (23) to move in a direction parallel to the oblique channel, so that the second poke rod (23) is inserted into the oblique channel.

7. The ball loading device according to claim 6, characterized in that, The oblique ball-poke mechanism (10) also includes a second displacement sensor (24), which is used to detect the movement stroke of the second mounting block or the second poke rod (23).

8. The ball-loading device according to claim 1, characterized in that, It also includes a guide seat (11), which is fixed on the mounting base (3) and together with the mounting base (3) defines a horizontally extending guide slide; the ball limiting fixture (7) is placed in the guide slide.

9. The ball loading device according to claim 8, characterized in that, The guide seat (11) is provided with a guide hole (12) that runs vertically through the top and bottom. When the ball limiting fixture (7) moves to the ball loading station, the guide hole (12), the ball limiting hole, and the upper port of the vertical channel of the ball loading fixture (8) are coaxial.

10. The ball-loading device according to claim 1, characterized in that, The ball storage and supply assembly includes a hopper (4) and a ball supply channel (5). The hopper (4) is installed on the mounting base (3) for storing steel balls. The upper end of the ball supply channel (5) is connected to the bottom outlet of the hopper (4), and the lower end is the ball outlet. When the ball limiting fixture (7) moves to the loading station, the ball outlet of the ball supply channel (5) is directly above the ball limiting hole.

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