Spinning riveting equipment and method for assembling stay bar lead screw bonded with coupler

Abstract

The invention relates to the field of automobile part assembling, in particular to a supporting rod lead screw assembling spin riveting device and method bonded with a coupler. The assembling device comprises a bearing disc and various assembling devices, the bearing disc is rotationally connected to the output end of the divider, and positioning tools are evenly distributed on the bearing disc and used for fixing the supporting rod lead screw. A supporting rod lead screw, a sealing ring, a supporting ring and a connecting shaft transmission assembly are placed on the feeding device, corresponding parts are sequentially assembled through the gasket assembling device, and the supporting rod lead screw assembled with a gasket is transferred to the spin riveting assembling device through the transferring device to be riveted. The invention further discloses a corresponding assembling and spin riveting method. According to the automatic assembling device, the technical effects that automatic assembling of the automobile electric tail door supporting rod lead screw bonded with the coupler is achieved, the assembling precision and quality are guaranteed through reasonable positioning and assembling according to the set pressure, and the production efficiency is improved are achieved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of automobile part assembly, in particular to a key joint automobile electric tail door support rod screw rod assembly riveting device and method. BACKGROUND

[0002] In the field of automobile manufacturing, the assembly quality and efficiency of automobile electric tail door support rod screw rods have an important influence on the overall performance and production efficiency of automobiles. With the continuous development of the automobile industry, consumers have increasingly high requirements for the convenience and reliability of automobile electric tail doors, which has prompted automobile manufacturers to continuously optimize the assembly process and equipment of electric tail door support rod screw rods to improve product quality and production efficiency and reduce production costs, thereby occupying an advantage in market competition. At the same time, the automation and intelligentization trend of automobile manufacturing has also driven the support rod screw rod assembly equipment to develop in a more efficient and more precise direction.

[0003] In the traditional assembly process of automobile electric tail door support rod screw rods, manual assembly and simple mechanical auxiliary assembly methods are usually used. When manually assembling, workers need to manually install various parts such as sealing rings, support rings, shaft transmission assemblies, gaskets, etc. on the support rod screw rod in turn, and then perform riveting operations. This method relies on the experience and skills of workers, and the operation process is relatively cumbersome, requiring workers to have a certain degree of proficiency and precision. Simple mechanical auxiliary assembly uses some basic clamps and tools to assist workers in completing part of the assembly steps, such as using clamps to fix the support rod screw rod and using simple pressing tools to install parts, but overall, it still requires a lot of manual intervention.

[0004] The traditional assembly method has many defects. Manual assembly method is not only low in efficiency, but also due to the subjective and unstable operation of workers, it is easy to cause uneven assembly quality and difficult to ensure product consistency. Although simple mechanical auxiliary assembly improves efficiency to some extent, it is still difficult to achieve high standards in terms of pressure control and positioning accuracy of parts during assembly, and cannot meet the requirements of modern automobile manufacturing for high-precision and high-efficiency assembly. To overcome the shortcomings of the prior art, the application provides a key joint automobile electric tail door support rod screw rod assembly riveting device and method, which can realize automatic assembly of key joint automobile electric tail door support rod screw rods, ensure assembly precision and quality, and improve production efficiency.

[0005] The application is implemented by the following technical solutions: A key joint automobile electric tail door support rod screw rod assembly riveting device, comprising: The bearing disc is arranged in a horizontal direction, rotationally connected to the output end of the divider, and a plurality of positioning tools for fixing the support rod screw rod are uniformly distributed on the bearing disc in a circumferential direction, and the positioning tool is provided with an open clamping groove, and the open clamping groove is matched with the process positioning groove provided on the support rod screw rod; The feeding device can place the gripped support rod screw rod in the positioning tool in a set direction. The sealing ring assembly device can assemble the gripped sealing ring into the sealing groove provided on the support rod screw rod. The support ring assembly device can assemble the gripped support ring to the positioning shoulder provided on the support rod screw rod with a set pressure; the sealing ring is arranged between the support ring and the support rod screw rod. The shaft coupling transmission assembly assembly device can set the bearing sleeve on the shaft coupling to assemble the shaft coupling transmission assembly, and key the shaft coupling transmission assembly to the support ring provided on the support rod screw rod with a set pressure. The gasket assembly device can assemble the gripped gasket to the shaft coupling transmission assembly provided on the support rod screw rod. The transfer device can transfer the support rod screw rod with the assembled gasket in the positioning tool to the spin riveting assembly device. The spin riveting assembly device can clamp and limit the support rod screw rod, and rivet the gasket on the support rod screw rod to lock the shaft coupling-bearing assembly.

[0006] By adopting the above technical scheme, the bearing disc rotation can sequentially send the support rod screw rod to each station, the open clamping groove of the positioning tool is matched with the process positioning groove of the support rod screw rod to fix the support rod screw rod, the feeding device can accurately feed the support rod screw rod, the sealing ring assembly device can complete the sealing ring assembly to realize sealing, the support ring assembly device can assemble the support ring with a set pressure, the shaft coupling transmission assembly assembly device can assemble the shaft coupling transmission assembly, the gasket assembly device can assemble the gasket, the transfer device can transfer the support rod screw rod with the assembled gasket, and the spin riveting assembly device can clamp and limit the support rod screw rod and rivet the gasket to lock the shaft coupling transmission assembly, thereby realizing the automatic assembly and spin riveting of the automobile electric tail door support rod screw rod with the shaft coupling.

[0007] Optionally, the positioning tool includes a bottom plate vertically fixed on the bearing disc, a first limiting plate is arranged at the upper end of the bottom plate, and a second limiting plate is arranged at the lower end of the bottom plate; a positioning groove matched with the bottom end of the support rod screw rod is arranged on the second limiting plate, and the open positioning groove is arranged on the first limiting seat; a vertical positioning hole and a horizontal positioning hole are arranged on the first limiting plate; and a movable clamping jaw for fixing the support rod screw rod is arranged at the middle part of the bottom plate.

[0008] By adopting the technical scheme, the bottom plate, the first limiting plate and the second limiting plate of the positioning tool provide stable support for the support rod screw, the positioning bracket is adapted to the bottom end of the support rod screw to realize preliminary positioning, the open positioning groove is adapted to the process positioning groove of the support rod screw to further position, the vertical and horizontal positioning holes provide positioning reference for subsequent assembly, the movable clamping jaw fixes the support rod screw, the stability of the support rod screw in the equipment operation process is ensured, and the assembly precision and efficiency are improved.

[0009] Optionally, the support ring assembly device comprises a support ring distribution positioning table fixed on the side edge of the bearing disc, a support ring grabbing mechanism and a positioning support mechanism, the support ring grabbing mechanism comprises a vertical support frame, a support ring cross translation mechanism capable of transversely and vertically translating is arranged on the upper end of the support frame, a support ring grabbing rod is arranged on the movable end of the support ring cross translation mechanism, a first pressure sensor is arranged on the lower end of the support ring grabbing rod, a support ring negative pressure suction mechanism is connected to the sensing end of the first pressure sensor, the support ring negative pressure suction mechanism can take out the support ring from the support ring positioning groove by using negative pressure; a support frame positioning seat is arranged on the support frame positioning table, a support ring positioning groove is arranged on the support frame positioning seat, a support ring lifting rod for lifting the support ring is arranged on the bottom of the support ring positioning groove; the positioning support mechanism comprises a support seat, a horizontal movement unit is arranged on the support seat, a horizontal positioning pin adapted to the horizontal positioning hole is arranged on the movable end of the horizontal movement unit.

[0010] By adopting the technical scheme, the support ring distribution positioning table can distribute and position the support ring, the support ring cross translation mechanism enables the support ring grabbing rod to transversely and vertically translate to reach a suitable position, the first pressure sensor can monitor the assembly pressure, the support ring negative pressure suction mechanism can conveniently take out the support ring by using negative pressure, the support ring lifting rod can lift the support ring for convenient grabbing, the horizontal positioning pin is adapted to the horizontal positioning hole, can provide support force for the positioning tool, and the operation of assembling the support ring to the positioning table shoulder of the support rod screw according to the set pressure is completed in cooperation.

[0011] Optionally, the shaft transmission assembly assembling device comprises a shaft transmission assembly bonding mechanism and a shaft transmission assembly pressing mechanism, the shaft transmission assembly bonding mechanism comprises a shaft coupling distribution positioning table, a bearing distribution positioning table and a shaft transmission assembly grabbing and assembling mechanism fixed on the side of the bearing disc, the shaft transmission assembly grabbing and assembling mechanism comprises a horizontal operating arm fixed on the side of the bearing disc, a rotary lifting mechanism is arranged on the horizontal operating arm, a fixed plate is arranged on the movable end of the rotary lifting mechanism, and an assembly clamp jaw and a shaft coupling clamp jaw are fixed on the lower end of the fixed plate; the rotary lifting mechanism can drive the shaft coupling clamp jaw to rotate during the downward movement, so that the shaft transmission assembly is engaged with the spline of the strut screw rod; the shaft transmission assembly pressing mechanism comprises a mounting frame fixed on the side of the bearing disc, a hydraulic telescopic rod is arranged on the upper end of the mounting frame, a second pressure sensor is arranged on the movable end of the hydraulic telescopic rod, and a sensing end of the second pressure sensor is provided; an auxiliary positioning support mechanism is arranged in the middle of the mounting frame, the auxiliary positioning support mechanism comprises an auxiliary horizontal moving unit and an auxiliary vertical moving unit, an auxiliary horizontal positioning pin matched with a horizontal positioning hole is arranged on the movable end of the auxiliary horizontal moving unit, and an auxiliary vertical positioning pin matched with a vertical positioning hole is arranged on the movable end of the auxiliary vertical moving unit.

[0012] By adopting the above technical scheme, the shaft transmission assembly bonding mechanism can assemble the bearing sleeve on the shaft coupling to form a shaft transmission assembly, the rotary lifting mechanism on the horizontal operating arm of the shaft transmission assembly bonding mechanism can realize flexible grabbing and assembling by cooperating with the fixed plate, the assembly clamp jaw and the shaft coupling clamp jaw, so as to complete the assembly of the shaft transmission assembly and bond the shaft transmission assembly to the strut screw rod; the shaft transmission assembly pressing mechanism can bond the shaft transmission assembly to the strut screw rod at a set pressure, the hydraulic telescopic rod cooperates with the second pressure sensor to control the pressure, the auxiliary horizontal positioning pin and the auxiliary vertical positioning pin of the auxiliary positioning support mechanism are matched with the horizontal positioning hole and the vertical positioning hole respectively, and the auxiliary positioning support mechanism can provide support force for the positioning tool, so as to ensure the stability and accuracy of the assembly process and avoid damage to the bearing disc during the assembly process.

[0013] Optionally, the rotary lifting mechanism is a ball spline rotary lifting mechanism, the center of the shaft coupling clamp jaw is on the same straight line as the axis of the ball spline shaft, the shaft coupling clamp jaw is slidably connected to the fixed plate through a guide rod, a first elastic return member is arranged between the guide rod and the fixed plate to provide pre-tightening force, and a distance sensor for sensing the elastic force of the elastic return member is arranged on the fixed plate.

[0014] By adopting the above technical scheme, as the prior art, the ball spline rotary lifting mechanism can realize axial movement and radial rotation, and the center of the coupling clamp jaw and the axis of the ball spline shaft are on the same straight line. This coaxial arrangement is of great significance in the keying process, which requires precise alignment of the key teeth and the key groove. After the alignment of the coupling and the screw is completed, the coaxial arrangement can deflect the coupling at an angle. In actual operation, when the coupling needs to be keyed with other components, the angle of the coupling can be flexibly adjusted due to the coaxial arrangement of the coupling clamp jaw and the ball spline shaft, so that the key teeth and the key groove are accurately matched. At the same time, the coupling clamp jaw is slidably connected to the fixed plate through the guide rod, which can ensure that the coupling and the screw are in a flexible abutting state, providing reaction time for the adjustment of the coupling. The first elastic return member is provided between the guide rod and the fixed plate, which not only ensures the flexibility of the coupling clamp jaw during operation, but also allows the coupling clamp jaw to quickly return to the initial state after a keying operation is completed, improving the efficiency and accuracy of keying and ensuring stable operation of the entire automobile electric tailgate support rod screw assembly riveting equipment. The distance sensor can sense the pre-tightening force of the first elastic return member in real time, and the control unit of the device can control the rotating action of the ball spline rotary lifting mechanism according to the value of the pre-tightening force, so that the key teeth and the key groove are accurately matched.

[0015] Optionally, the rotary lifting mechanism includes a downward pressing rod that can move vertically. The fixed plate is provided with a sliding sleeve, and the center of the coupling clamp jaw is on the same straight line as the axis of the sliding sleeve. The sliding sleeve is slidably connected to the lower end of the downward pressing rod, and a first elastic return member is provided between the sliding sleeve and the downward pressing rod to provide pre-tightening force. An arc-shaped groove is provided on the side wall of the downward pressing rod, and a floating block is slidably connected in the arc-shaped groove. A guide pin is provided on the front surface of the floating block. Second elastic return members are provided on both sides of the arc-shaped groove to limit the position of the floating block. A helical groove is provided on the sliding sleeve to match the guide pin.

[0016] By adopting the above technical scheme, through the mechanical floating type connection structure, the coupling clamp jaw can automatically deflect slightly during the downward assembly of the coupling transmission assembly, so that the key teeth and the key groove are accurately matched and can automatically return. Compared with the ball spline rotary lifting mechanism, the design and manufacturing cost of the device is lower.

[0017] Optionally, the feeding device comprises a first mechanical arm fixed on the side of the bearing disc, and a first clamping jaw mechanism is arranged at the movable end of the first mechanical arm and capable of clamping the support rod screw; the sealing ring assembling device comprises a sealing ring positioning slide table and a sealing ring grabbing mechanism fixed on the side of the bearing disc, the sealing ring grabbing mechanism comprises a vertical plate, a sealing ring cross translation mechanism capable of transversely and vertically translating is arranged at the upper end of the vertical plate, and a sealing ring clamping jaw is arranged at the movable end of the sealing ring cross translation mechanism; a flower groove matched with the sealing ring clamping jaw is arranged on the sealing ring positioning slide table, the sealing ring positioning slide table is powered by a sealing ring pushing mechanism to move directionally, so as to move the sealing ring to a designated position; a sealing ring positioning plate is arranged on the sealing ring positioning slide table, a sealing ring positioning groove for positioning the sealing ring conveyed to the sealing ring positioning slide table is arranged at the front end of the sealing ring positioning plate, and the sealing ring positioning plate can move directionally under the power of a sealing ring expansion and contraction mechanism; the sealing ring grabbing mechanism is used for grabbing the sealing ring placed at the flower groove at the designated position and assembling the sealing ring into a sealing groove arranged on the support rod screw.

[0018] By adopting the above technical scheme, the first mechanical arm and the first clamping jaw mechanism can realize the grabbing and placing of the support rod screw, the sealing ring positioning slide table and the sealing ring pushing mechanism can move the sealing ring to a designated position, the sealing ring positioning plate and the sealing ring expansion and contraction mechanism can position the sealing ring, and the sealing ring cross translation mechanism and the sealing ring clamping jaw can realize the grabbing and assembling of the sealing ring, so as to complete the feeding of the support rod screw and the assembling of the sealing ring.

[0019] Optionally, the gasket assembling device comprises a gasket feeding mechanism and a gasket grabbing mechanism fixed on the side of the bearing disc, the gasket grabbing mechanism comprises a vertical support plate, a gasket cross translation mechanism capable of transversely and vertically translating is arranged at the upper end of the vertical support plate, and a gasket adsorption rod is arranged at the movable end of the gasket cross translation mechanism; a gasket positioning table is arranged at the lower end of the vertical support plate, a gasket positioning seat is arranged on the gasket positioning table, a gasket positioning groove is arranged on the gasket positioning seat, and a gasket lifting rod for lifting the gasket is arranged at the bottom of the gasket positioning groove; the gasket adsorption rod can take out the gasket from the gasket positioning groove by using negative pressure.

[0020] By adopting the above technical scheme, the gasket feeding mechanism provides a gasket source, the gasket cross translation mechanism of the gasket grabbing mechanism can drive the gasket adsorption rod to move transversely and vertically, the gasket adsorption rod takes out the gasket from the gasket positioning groove by using negative pressure, the gasket positioning table, the gasket positioning seat and the gasket positioning groove position the gasket, and the gasket lifting rod can lift the gasket, so that the gasket adsorption rod can grab, thereby realizing efficient and accurate gasket assembling function.

[0021] Optionally, the transfer device includes a second robotic arm fixed to the side of the support disc, and the movable end of the second robotic arm is provided with a second gripper mechanism capable of clamping the strut screw; the riveting device includes a fixed seat fixed to the side of the support disc, and clamping plates are symmetrically arranged in the middle of the fixed seat. The clamping plates are provided with limiting grooves adapted to the process positioning grooves; the clamping plates are powered by a pushing mechanism to move laterally to clamp the strut screw; a riveting machine is provided at the upper end of the fixed seat, and the riveting machine is used to expand the diameter of the end of the strut screw.

[0022] By adopting the above technical solution, the second robotic arm and the second gripper mechanism of the transfer device can transfer the strut with the shims already assembled on the positioning fixture to the riveting device; the upper limit groove of the clamping plate of the riveting device is adapted to the process positioning groove, and the clamping plate can effectively clamp and position the strut under the drive of the pushing mechanism by moving laterally; the riveting machine can lock the coupling-bearing assembly by expanding the diameter of the end of the strut.

[0023] A method for assembling and riveting a lead screw of an automotive electric tailgate strut with a keyed coupling, wherein the end of the strut strut is keyed with a coupling and a bearing is sleeved on the coupling, specifically including the following steps: S1. A process positioning groove is machined on the strut screw, and the process positioning groove is located below the coupling; S2. The strut screw is fixed on the positioning fixture provided on the bearing disc. The positioning fixture is provided with an open snap-fit ​​groove that matches the process positioning groove. The bearing disc can rotate horizontally under the action of the driving device. S3. Assemble the sealing ring into the sealing groove provided on the strut screw; S4. Provide support force to the positioning fixture and assemble the support ring to abut against the positioning shoulder provided on the strut screw according to the set pressure, wherein the sealing ring is located between the strut screw and the support ring; S5. Install the bearing on the coupling to assemble the coupling transmission assembly, and use the positioning fixture to provide support force. Then, key the coupling transmission assembly to abut against the support ring on the strut screw according to the set pressure. S6. Assemble the shim to abut against the coupling drive assembly on the strut screw; S7. Transfer the strut screw from step S6 from the positioning fixture to the riveting station. S8. At the riveting station, the strut screw is positioned by the process positioning groove, and the shim is riveted to the strut screw by the riveting process to lock the shaft transmission assembly.

[0024] By adopting the above technical solutions, the machining process positioning groove facilitates subsequent positioning of the strut lead screw; the positioning fixture fixes the strut lead screw, and the bearing disc can rotate horizontally, facilitating the transfer of the strut lead screw; the sealing ring ensures the sealing of the strut lead screw; the support ring is assembled and the sealing ring is placed between the strut lead screw and the support ring to enhance the sealing effect; the coupling transmission assembly is assembled and keyed onto the strut lead screw to meet the connection requirements between the strut lead screw and the coupling; the gasket is assembled to prepare for subsequent locking of the coupling transmission assembly; the strut lead screw is transferred to the riveting station for centralized riveting operations; the strut lead screw is positioned by the process positioning groove and the gasket is riveted to lock the coupling transmission assembly, ensuring the overall structural stability.

[0025] In summary, this application includes at least one of the following beneficial technical effects: This application adopts an automated assembly method using a bearing disc, positioning tooling, and various assembly devices, which can improve the assembly efficiency of the electric tailgate strut screw and solve the problem of low efficiency in traditional assembly methods. This application uses various assembly devices to assemble according to set pressure and direction, which can ensure pressure control and component positioning accuracy during the assembly process, improve assembly quality and product consistency, and solve the problem of inconsistent assembly quality in traditional assembly methods. This application utilizes a riveting assembly device to clamp, limit, and rivet the strut lead screw, thereby locking the coupling-bearing assembly, ensuring the assembly reliability of the strut lead screw, and meeting the requirements of modern automobile manufacturing for high-precision and high-efficiency assembly. Attached Figure Description

[0026] Figure 1 This is a top view of the riveting and spun assembly equipment for the automotive electric tailgate strut with a coupling as described in Embodiment 1. Figure 2 This is a three-dimensional structural diagram of the automotive electric tailgate strut screw assembly and riveting equipment with a keyed coupling described in Embodiment 1; Figure 3 This is a schematic diagram of the strut screw described in Embodiment 1; Figure 4 This is a schematic diagram of the positioning fixture described in Embodiment 1; Figure 5 This is a schematic diagram of the feeding device described in Embodiment 1; Figure 6 This is a schematic diagram of the sealing ring assembly device described in Embodiment 1; Figure 7 This is a schematic diagram of the sealing ring positioning slide described in Embodiment 1; Figure 8 This is a schematic diagram of the support ring assembly device described in Embodiment 1; Figure 9 This is a schematic diagram of the support ring material distribution and positioning table described in Embodiment 1; Figure 10 This is a top view of the positioning support mechanism described in Embodiment 1; Figure 11 This is a schematic diagram of the keying mechanism of the coupling transmission assembly described in Embodiment 1; Figure 12 This is a partial structural schematic diagram of the horizontal operating arm described in Embodiment 1; Figure 13 This is a schematic diagram of the press-fitting mechanism of the coupling transmission assembly described in Embodiment 1; Figure 14 This is a schematic diagram of the auxiliary positioning support mechanism described in Embodiment 1; Figure 15 This is a schematic diagram of the gasket assembly device described in Embodiment 1; Figure 16 This is a schematic diagram of the gasket distribution and positioning table described in Embodiment 1; Figure 17 This is a schematic diagram of the transfer device described in Embodiment 1; Figure 18 This is a schematic diagram of the riveting device described in Embodiment 1; Figure 19 This is a partial structural schematic diagram of the riveting device described in Embodiment 1; Figure 20 This is a schematic diagram of the structure after the strut screw described in Embodiment 1 has been riveted; Figure 21 This is a schematic diagram of the detection device described in Embodiment 1; Figure 22 This is a schematic diagram of the structure of the horizontal operating arm described in Embodiment 2; Figure 23 This is a schematic diagram of the structure of the pressure rod described in Embodiment 2; Figure 24 This is a schematic diagram of the cross-sectional structure of the floating block described in Embodiment 2.

[0027] In the diagram: 1. Bearing disc; 11. Positioning fixture; 12. Opening snap-fit ​​groove; 111. Base plate; 112. First limiting plate; 1121. Vertical positioning hole; 1122. Horizontal positioning hole; 113. Second limiting plate; 1131. Positioning bracket; 114. Movable gripper; 2. Feeding device; 21. First robotic arm; 22. First gripper mechanism; 3. Sealing ring assembly device; 31. Sealing ring gripping mechanism; 311. Sealing ring cross translation mechanism; 312. Sealing ring gripper; 32. Sealing ring positioning slide; 33. Sealing ring pushing mechanism; 321. Groove; 322. Sealing ring positioning plate; 3221. Sealing ring positioning groove; 323. Sealing ring telescopic mechanism; 34. Sealing ring vibrating plate; 4. Support ring assembly device ; 41. Support ring material distribution and positioning table; 411. Support frame positioning seat; 4111. Support ring positioning groove; 4112. Support ring lifting rod; 42. Support ring gripping mechanism; 421. Support ring cross translation mechanism; 422. Support ring gripping rod; 423. First pressure sensor; 424. Support ring suction rod; 43. Positioning support mechanism; 431. Lateral movement unit; 432. Horizontal positioning pin; 44. Support ring vibratory plate; 5. Coupling transmission assembly assembly device; 51. Coupling transmission assembly keying mechanism; 511. Coupling material distribution and positioning table; 512. Coupling vibratory plate; 513. Bearing material distribution and positioning table; 514. Bearing stacking and pushing table; 515. Horizontal operating arm; 516. Ball spline rotary lifting mechanism; 51 61. Guide rod; 5162. Distance sensor; 517. Pressing rod; 5171. Arc groove; 5172. Floating block; 5173. Guide pin; 5174. Second elastic reset component; 518. Fixing plate; 5181. Assembly gripper; 5182. Coupling gripper; 5183. Sliding sleeve; 5184. Helical groove; 5185. Guide sleeve; 519. First elastic reset component; 52. Coupling transmission assembly press-fitting mechanism; 521. Mounting bracket; 522. Hydraulic telescopic rod; 523. Second pressure sensor; 524. Pressure plate; 525. Auxiliary positioning support mechanism; 5251. Auxiliary lateral movement unit; 5252. Auxiliary horizontal positioning pin; 5253. Auxiliary vertical movement unit; 5254. Auxiliary vertical positioning pin 6. Gasket assembly device; 61. Gasket vibratory feeder; 62. Gasket material distribution and positioning table; 621. Gasket positioning seat; 6211. Gasket positioning groove; 6212. Gasket lifting rod; 63. Gasket gripping mechanism; 631. Gasket cross translation mechanism; 632. Gasket suction rod; 7. Transfer device; 71. Second robotic arm; 72. Second gripper mechanism; 8. Riveting device; 81. Fixed seat; 82. Clamping plate; 821. Limiting groove; 822. Pushing mechanism; 823. Clearance groove; 83. Riveting machine; 84. Dust removal and adsorption pipe; 9. Support rod screw; 91. Process positioning groove; 92. Sealing groove; 93. Sealing ring; 94. Positioning shoulder; 95. Support ring; 96. Coupling; 97. Bearing; 98. Shaft transmission assembly;99. Gasket; 10. Detection device; 101. Vision sensor. Detailed Implementation

[0028] The technical solutions of various embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Example 1

[0029] Reference Figures 1 to 3 This application discloses an assembly and riveting device for a lead screw of an automotive electric tailgate strut with a keyed coupling, comprising: The bearing disk 1 is arranged horizontally and rotatably connected to the output end of the divider. The bearing disk 1 is evenly distributed with a number of positioning fixtures 11 for fixing the support rod screw 9 along the circumferential direction. The positioning fixture 11 is provided with an open snap-fit ​​groove 12, which is adapted to the process positioning groove 91 provided on the support rod screw 9. The feeding device 2 can place the gripped support rod 9 in the positioning fixture 11 in a set direction; The sealing ring assembly device 3 is capable of assembling the gripped sealing ring 93 into the sealing groove 92 provided on the strut screw 9; The support ring assembly device 4 is capable of assembling the gripped support ring 95 into contact with the positioning shoulder 94 provided on the strut screw 9 under a set pressure; the sealing ring 93 is placed between the support ring 95 and the strut screw 9. The coupling transmission assembly assembly device 5 can press the coupling 96 into the bearing 97 to assemble it into a coupling transmission assembly 98, and key the coupling transmission assembly 98 to abut against the support ring 95 on the strut screw 9 with a set pressure. The gasket assembly device 6 is capable of assembling the gripped gasket 99 into contact with the coupling transmission assembly 98 on the strut screw 9; The transfer device 7 is capable of transferring the strut screw 9 with the shim 99 already assembled in the positioning fixture 11 to the riveting assembly device. The riveting assembly device can clamp and limit the strut screw 9 and rivet the gasket 99 onto the strut screw 9 to lock the coupling 96-bearing 97 assembly.

[0030] For details, please refer to Figures 1 to 2The bearing disk 1 can be made of metal, such as aluminum alloy, which has the characteristics of high strength and light weight; the divider can be a cam divider, which can accurately transmit power to the bearing disk 1 to make it rotate intermittently; the bearing disk 1 has a number of positioning fixtures 11 for fixing the support rod screw 9 evenly distributed along the circumference, and the positioning fixture 11 is provided with an open snap-fit ​​groove, which is adapted to the process positioning groove 91 provided on the support rod screw 9.

[0031] Reference Figures 3 to 4 The positioning fixture 11 includes a base plate 111 vertically fixed on the bearing disk 1. The base plate 111 can be fixedly connected to the bearing disk 1 by bolts. The upper end of the base plate 111 is provided with a first limiting plate 112, and the lower end is provided with a second limiting plate 113. The second limiting plate 113 is provided with a positioning groove 1131 that matches the bottom end of the strut 9. An open snap-fit ​​groove 12 is provided on the first limiting seat. The first limiting plate 112 is provided with a vertical positioning hole 1121 and a horizontal positioning hole 1122. The middle part of the base plate 111 is provided with a movable gripper 114 for fixing the strut 9. The movable gripper 114 can be hinged to the base plate 111, and the gripper can be engaged and fixed to the strut 9 by the elastic force of a spring. It should be noted that the positioning fixture 11 can be equipped with a proximity sensor to sense whether the strut 9 has been fixed in the positioning fixture 11.

[0032] Reference Figure 5 The feeding device 2 includes a first robotic arm 21 fixed to the side of the bearing disc 1. The first robotic arm 21 can be a multi-joint robotic arm with multiple degrees of freedom, which can flexibly perform gripping and placement operations. The movable end of the first robotic arm 21 is provided with a first gripper mechanism 22 that can grip the support rod screw 9. The first gripper mechanism 22 can be a pneumatic gripper, which is driven by compressed air to open and close the gripper to grip the support rod screw 9. Sensors, such as cameras, can be installed on the first gripper mechanism 22 to identify the position and direction of the support rod screw 9 and ensure that the support rod screw 9 is placed in the positioning fixture 11 in the set direction.

[0033] Reference Figures 6 to 7The sealing ring assembly device 3 includes a sealing ring positioning slide 32 fixed to the side of the bearing disc 1 and a sealing ring gripping mechanism 31. After the sealing rings 93 are oriented and sorted by the sealing ring vibrating disc 34, they are conveyed to the sealing ring positioning slide 32. The sealing ring positioning slide 32 is provided with grooves 321 that match the sealing ring grippers 312. The sealing ring positioning slide 32 is powered by the sealing ring pushing mechanism 33 to move orientably, thereby moving the sealing rings 93 to a set position. The sealing ring pushing mechanism 33 can be a pneumatic push rod, capable of precise... The movement of the sealing ring positioning slide 32 is controlled by the ground. The sealing ring positioning slide 32 is provided with a sealing ring positioning plate 322. The front end of the sealing ring positioning plate 322 is provided with a sealing ring positioning groove 3221 for positioning the sealing ring 93 delivered to the sealing ring positioning slide 32. The sealing ring positioning groove 3221 has a U-shaped structure, and the sealing ring positioning plate 322 can move in a direction under the power provided by the sealing ring telescopic mechanism 323. The sealing ring telescopic mechanism 323 can be a cylinder, and the movement of the sealing ring positioning plate 322 is realized by the extension and retraction of the cylinder.

[0034] Reference Figures 6 to 7 The sealing ring gripping mechanism 31 includes a vertical plate, and the upper end of the vertical plate is provided with a sealing ring cross translation mechanism 311 capable of horizontal and vertical translation. The sealing ring cross translation mechanism 311 can use a screw and nut transmission mechanism, a pneumatic push rod transmission mechanism, etc. to realize the horizontal and vertical movement of the nut. The movable end of the sealing ring cross translation mechanism 311 is provided with a sealing ring gripper 312. As a prior art, the sealing ring gripper 312 can be an O-ring assembly gripper. The O-ring assembly gripper has high precision and high stability, which can ensure the position and dimensional accuracy of the O-ring during the assembly process. In addition, the self-adaptive capability of the gripper can adapt to O-rings of different sizes and shapes, thereby ensuring the quality and reliability of the assembly.

[0035] Reference Figures 8 to 9The support ring assembly device 4 includes a support ring distribution and positioning platform 41 fixed to the side of the bearing disc 1, a support ring gripping mechanism 42, and a positioning support mechanism 43. After being oriented and sorted by the support ring vibrating plate 44, the support rings are conveyed to the support ring distribution and positioning platform 41 via a conveyor belt. The support ring gripping mechanism 42 includes a vertically arranged support frame, which can be a steel structure with high stability. The upper end of the support frame is equipped with a support ring cross translation mechanism 421 capable of lateral and vertical translation. The support ring cross translation mechanism 421 can be a combination of a pneumatic telescopic rod or a linear motor to achieve lateral and vertical movement of the movable end. The movable end of the support ring cross translation mechanism 421... The support ring gripping rod 422 is provided at one end, and a first pressure sensor 423 is provided at the lower end of the support ring gripping rod 422. The sensing end of the first pressure sensor 423 is connected to a support ring adsorption rod 424. The support ring adsorption rod 424 can use negative pressure to remove the support ring 95 from the support ring positioning groove 4111. The support ring dispensing positioning platform 41 is provided with a support frame positioning seat 411. The support frame positioning seat 411 is provided with a support ring positioning groove 4111. The bottom of the support ring positioning groove 4111 is provided with a support ring lifting rod 4112 for lifting the support ring 95. The support ring lifting rod 4112 can be an electric push rod. The extension and retraction of the push rod is driven by a motor to realize the lifting of the support ring 95.

[0036] Reference Figure 10 The positioning support mechanism 43 includes a support base, on which a transverse moving unit 431 is provided. The transverse moving unit 431 can be an electric slider, which is driven by a motor to move on a guide rail. The moving end of the transverse moving unit 431 is provided with a horizontal positioning pin 432 that is adapted to the horizontal positioning hole 1122. The horizontal positioning pin 432 is inserted into the horizontal positioning hole 1122 to provide support force for the positioning fixture 11 and ensure the accuracy of the assembly of the support ring 95.

[0037] Reference Figure 11 The coupling transmission assembly assembly device 5 includes a coupling transmission assembly keying mechanism 51. The coupling transmission assembly keying mechanism 51 includes a coupling vibratory plate 512, a coupling material distribution and positioning table 511, a bearing stacking and pushing table 514, a bearing material distribution and positioning table 513, and a coupling transmission assembly 98 gripping and assembly mechanism, which are fixed on the side of the bearing disk 1. The coupling vibratory plate 512 first orients and sorts the couplings 96, and then the conveyor belt transports them to the coupling material distribution and positioning table 511. The bearing stacking and pushing table 514 transports the sorted bearings 97 to the bearing material distribution and positioning table 513.

[0038] Reference Figure 11The coupling transmission assembly 98 gripping and assembly mechanism includes a horizontal operating arm 515 fixed to the side of the bearing disk 1. The horizontal operating arm 515 can be made of aluminum alloy, which has the characteristics of light weight and high strength. The horizontal operating arm 515 is equipped with a rotary lifting mechanism, which can realize a compound motion of rotation and lifting to drive the coupling 96 to engage with the spline of the support rod screw 9. The movable end of the rotary lifting mechanism is equipped with a fixed plate 518, and the lower end of the fixed plate 518 is fixed with an assembly gripper 5181 and a coupling gripper 5182. The assembly gripper 5181 and the coupling gripper 5182 can be pneumatic grippers, which are controlled by air pressure to grip the bearing 97 and the coupling 96.

[0039] Reference Figure 11 When the coupling transmission assembly keying mechanism 51 is working, the horizontal operating arm 515 first controls the coupling gripper 5182 to grab the coupling 96 from the coupling material positioning table 511, and then moves the coupling to the top of the bearing positioning table, aligning it with the center of the bearing. At this time, the rotary lifting mechanism is activated, controlling the coupling to move down, so as to assemble the coupling into the bearing and combine it into the coupling transmission assembly 98. Then, the assembly gripper 5181 is controlled to grab the coupling transmission assembly 98 and key the coupling transmission assembly 98 into the support rod screw 9.

[0040] Reference Figures 11 to 12 The rotary lifting mechanism is a ball spline rotary lifting mechanism 516. The center of the coupling jaw 5182 is on the same straight line as the axis of the ball spline shaft, and the coupling jaw 5182 is slidably connected to the fixed plate 518 via the guide rod 5161. A first elastic reset member 519 providing preload is provided between the guide rod 5161 and the fixed plate 518. The first elastic reset member 519 is built into the guide sleeve 5185 on the fixed plate 518 (not shown in the figure). The fixed plate 518 is provided with a distance sensor 5162 that senses the elastic deformation of the elastic reset member. The distance sensor 5162 can be a laser distance sensor. When the distance sensor 5162 senses that the elastic reset member is compressed, it can transmit the signal to the control unit of the device. The control unit drives the ball spline rotary lifting mechanism 516 to perform a downward rotation operation until the distance sensor 5162 senses that the elastic reset member has returned to its original length.

[0041] Reference Figures 13 to 14The coupling transmission assembly assembly device 5 also includes a coupling transmission assembly pressing mechanism 52; the coupling transmission assembly pressing mechanism 52 includes a mounting bracket 521 fixed to the side of the bearing disc 1, and a hydraulic telescopic rod 522 is provided at the upper end of the mounting bracket 521. The hydraulic telescopic rod 522 can provide greater pressure to ensure the pressing effect of the coupling transmission assembly 98; a second pressure sensor 523 is provided at the movable end of the hydraulic telescopic rod 522, and a pressure plate 524 is provided at the sensing end of the second pressure sensor 523. The pressure plate 524 is used to apply pressure to the coupling 96-bearing 97 assembly; an auxiliary positioning support mechanism 525 is provided in the middle of the mounting bracket 521. The auxiliary positioning support mechanism 525 includes an auxiliary The auxiliary horizontal moving unit 5251 and the auxiliary vertical moving unit 5253 can be electric sliders, which are driven by a motor to move on the guide rail. The moving end of the auxiliary horizontal moving unit 5251 is provided with an auxiliary horizontal positioning pin 5252 that matches the horizontal positioning hole 1122, and the moving end of the auxiliary vertical moving unit 5253 is provided with an auxiliary vertical positioning pin 5254 that matches the vertical positioning hole 1121. The auxiliary horizontal positioning pin 5252 and the auxiliary vertical positioning pin 5254 are inserted into the corresponding positioning holes to provide support for the positioning fixture 11 and ensure the accuracy of the assembly of the shaft transmission assembly 98.

[0042] Reference Figures 15 to 16 The gasket assembly device 6 includes a gasket distribution and positioning platform 62 fixed to the side of the bearing disc 1 and a gasket gripping mechanism 63. Gaskets are oriented and sorted by a gasket vibrating plate 61 and then conveyed to the gasket distribution and positioning platform 62. The gasket gripping mechanism 63 includes a vertically arranged support plate, with a gasket cross-translation mechanism 631 capable of lateral and vertical translation at the upper end of the support plate. The gasket cross-translation mechanism 631 can be a combination of a pneumatic telescopic rod or a linear motor to achieve lateral and vertical movement of the movable end. The movable end of the support plate is provided with a gasket suction rod 632, which can use negative pressure to remove the gasket 99 from the gasket positioning groove 6211; the lower end of the support plate is provided with a gasket distribution positioning platform 62, the gasket distribution positioning platform 62 is provided with a gasket positioning seat 621, the gasket positioning seat 621 is provided with a gasket positioning groove 6211, and the bottom of the gasket positioning groove 6211 is provided with a gasket lifting rod 6212 for lifting the gasket 99; the gasket lifting rod 6212 can be a pneumatic push rod, which can accurately control the lifting height of the gasket 99.

[0043] Reference Figure 17The transfer device 7 includes a second robotic arm 71 fixed to the side of the bearing disk 1. The second robotic arm 71 can be a six-axis robotic arm with high flexibility and motion precision. The movable end of the second robotic arm 71 is provided with a second gripper mechanism 72 that can grip the support rod screw 9. The second gripper mechanism 72 can be a pneumatic gripper. The opening and closing of the gripper is controlled by a hydraulic system to realize the gripping and transfer of the support rod screw 9.

[0044] Reference Figures 18 to 20 The riveting device 8 includes a fixed base 81 fixed to the side of the bearing disc 1. A clamping plate 82 is symmetrically arranged in the center of the fixed base 81. The clamping plate 82 has a limiting groove 821 adapted to the process positioning groove 91. The clamping plate 82 is powered by a pushing mechanism 822 to move laterally, thereby clamping the support rod screw 9. The pushing mechanism 822 can be a pneumatic push rod, controlling the extension and retraction of a hydraulic cylinder through a hydraulic system to open and close the clamping plate 82. This allows the support rod screw 9 to be positioned during the riveting process, causing the second gripper mechanism 72 to disengage from the support rod screw 9, eliminating the support rod screw 9 during the riveting process. The vibration of the lead screw 9 can damage the transfer device 7; while the clamping plate 82 can be provided with a relief groove 823 that is compatible with the second gripper mechanism 72, so that the second gripper mechanism 72 can release the lead screw 9 when it is placed in the clamping plate 82, and can transfer the assembled lead screw 9 in time after riveting is completed; the fixed seat 81 is provided with a riveting machine 83, which is used to expand the diameter of the end of the lead screw 9 to lock the coupling 96-bearing 97 assembly; the riveting machine 83 can be a pneumatic riveting machine 83, which drives the riveting head to rotate by air pressure to realize the riveting operation.

[0045] Reference Figures 20 to 21 During the riveting process, the dust removal adsorption tube 84 can be used to remove the debris produced during the riveting process under negative pressure. After the riveting operation is completed, the second gripper mechanism 72 will transfer the assembled strut screw 9 to the detection device 10 for monitoring and detection by the vision sensor 101.

[0046] The implementation principle of this embodiment is as follows: the assembly and riveting equipment, through the rotation of the bearing disc 1, causes the strut screw 9 to pass through the workstations of each device in sequence, realizing the automated assembly and riveting process; the coordinated work of each device reduces the influence of human factors and improves assembly accuracy and efficiency; at the same time, the sensors and positioning mechanisms on each device ensure the accuracy and stability of the assembly, improve the overall performance of the strut screw 9 and the reliability of the electric tailgate, meet the needs of large-scale production, and have significant advantages compared with traditional assembly methods. Example 2

[0047] Reference Figures 22 to 24The difference between this embodiment and Embodiment 1 is that the rotary lifting mechanism in the coupling transmission assembly 5 includes a vertically movable lowering rod 517. The lowering rod 517 can be fixed to the movable end of the electric telescopic rod, and a sliding sleeve 5183 is provided on the fixing plate 518. The center of the coupling jaw 5182 and the axis of the sliding sleeve 5183 are on the same straight line. The sliding sleeve 5183 is slidably connected to the lower end of the lowering rod 517, and a first elastic reset member 519 for providing preload force is provided between the sliding sleeve 5183 and the lowering rod 517. The first elastic reset member 519 can be a spring.

[0048] Reference Figures 22 to 24 The pressure rod 517 has an arc-shaped groove 5171 on its side wall, and a floating block 5172 is slidably connected in the arc-shaped groove 5171. A guide pin 5173 is provided on the front of the floating block 5172. A second elastic reset member 5174 is provided on both sides of the arc-shaped groove 5171 to limit the position of the floating block 5172. The second elastic reset member 5174 can also be a spring. The sliding sleeve 5183 has a spiral groove 5184 that matches the guide pin 5173. When the pressure rod 517... 7. When pressed down, the floating block 5172 slides in the arc groove 5171, and the guide pin 5173 moves in the spiral groove 5184, causing the second elastic reset member 5174 to deform and generate a reset elastic force, thereby causing the coupling jaw 5182 to rotate during the descent to correct the position of the coupling and achieve engagement with the spline of the strut screw 9; while during the process of the coupling being keyed to the strut screw 9, the floating block 5172 can adaptably slide in the arc groove 5171.

[0049] The implementation principle of this embodiment is as follows: This rotary lifting mechanism design realizes the rotation and lifting motion of the coupling jaws 5182 through a mechanical structure. It features a simple structure and high reliability. The use of an elastic reset element to provide preload and limit action ensures the motion accuracy and stability of the coupling jaws 5182, enabling accurate assembly of the coupling transmission assembly 98 onto the support rod screw 9. This improves assembly quality and efficiency, further enhancing the overall performance of the equipment. Example 3

[0050] Reference Figures 1 to 3 This application also discloses a method for riveting and assembling a lead screw of an automotive electric tailgate strut with a keyed coupling, including the following steps: S1. Machining a process positioning groove 91 on the strut screw 9, located below the coupling 96. The process positioning groove 91 can be machined by turning, using a milling machine and appropriate cutting tools, precisely machining the groove according to design requirements. During machining, the dimensional accuracy and surface quality of the process positioning groove 91 must be ensured to guarantee the accuracy of subsequent assembly.

[0051] S2. The support rod screw 9 is fixed on the positioning fixture 11 provided on the bearing disk 1. The positioning fixture 11 is provided with an open snap-fit ​​groove that matches the process positioning groove 91. The bearing disk 1 can rotate horizontally under the action of the driving device. The driving device can be a servo motor, which transmits power to the divider through a reducer, and then the divider drives the bearing disk 1 to rotate. When fixing the support rod screw 9, the open snap-fit ​​groove and the process positioning groove 91 are used to ensure that the position of the support rod screw 9 is accurate. Then, the movable jaw 114 clamps the support rod screw 9.

[0052] S3. Assemble the sealing ring 93 into the sealing groove 92 provided on the strut screw 9. First, the sealing ring pushing mechanism 33 moves the sealing ring positioning slide 32 to the set position, and the sealing ring positioning plate 322 positions the sealing ring 93. Then, the sealing ring cross translation mechanism 311 of the sealing ring gripping mechanism 31 moves the sealing ring gripper 312 above the sealing ring 93, uses the sealing ring gripper 312 to grip the sealing ring 93, and assembles it into the sealing groove 92 of the strut screw 9.

[0053] S4. A supporting force is provided to the positioning fixture 11, and the support ring 95 is assembled to abut against the positioning shoulder 94 on the strut screw 9 according to a set pressure. The sealing ring 93 is located between the strut screw 9 and the support ring 95. The horizontal positioning pin 432 of the positioning support mechanism 43 is inserted into the horizontal positioning hole 1122 to provide supporting force to the positioning fixture 11. The support ring gripping mechanism 42's support ring cross translation mechanism 421 moves the support ring gripping rod 422 above the support ring positioning groove 4111, uses a negative pressure adsorption mechanism to pick up the support ring 95, and then moves the support ring 95 above the strut screw 9. Under the control of the first pressure sensor 423, the support ring 95 is assembled onto the positioning shoulder 94 according to a set pressure.

[0054] S5. Fit the coupling 96 onto the bearing 97 to assemble the coupling transmission assembly 98, and position the fixture 11 to provide support force. Then, key the coupling transmission assembly 98 to abut against the support ring 95 on the strut screw 9 according to the set pressure.

[0055] S6. Assemble the gasket 99 into contact with the coupling drive assembly 98 on the strut screw 9. The gasket 99 feeding mechanism conveys the gasket 99 into the gasket positioning groove 6211. The gasket cross translation mechanism 631 of the gasket gripping mechanism 63 moves the gasket suction rod 632 above the gasket 99, uses the gasket suction rod 632 to pick up the gasket 99, and then moves the gasket 99 above the strut screw 9 to assemble it onto the coupling drive assembly 98.

[0056] S7. Transfer the strut lead screw 9 from step S6 from the positioning fixture 11 to the riveting station. The second gripper mechanism 72 of the second robotic arm 71 of the transfer device 7 picks up the strut lead screw 9 and then transfers it to the fixed seat 81 of the riveting device 8.

[0057] S8. At the riveting station, the strut screw 9 is positioned by the process positioning groove 91, and the shim 99 is riveted to the strut screw 9 by the riveting process to lock the shaft transmission assembly 98. The clamping plate 82 of the riveting device 8 closes under the action of the pushing mechanism 822, and the strut screw 9 is positioned by the cooperation of the limiting groove 821 and the process positioning groove 91. The riveting machine 83 expands the diameter of the end of the strut screw 9 and rivets the shim 99 to the strut screw 9 to complete the locking of the shaft transmission assembly 98.

[0058] The implementation principle of this application embodiment is as follows: This assembly and riveting method achieves automated assembly and riveting of the automotive electric tailgate support rod lead screw 9, which is bonded to the coupling 96, through a series of orderly steps. Each step has corresponding positioning and pressure control, ensuring the accuracy and stability of the assembly. It avoids errors caused by manual operation, improves production efficiency and product quality, guarantees the overall performance of the support rod lead screw 9 and the reliability of the electric tailgate, and meets the requirements of the automotive manufacturing industry for component assembly quality.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of this application.

Claims

1. A riveting and assembling device for a strut with a keyed coupling, characterized in that, include: The bearing disk (1) is arranged in a horizontal direction and is rotatably connected to the output end of the divider. The bearing disk (1) is evenly distributed with a number of positioning fixtures (11) for fixing the support rod screw (9) along the circumferential direction. The positioning fixture (11) is provided with an open snap-fit ​​groove (12), which is compatible with the process positioning groove (91) provided on the support rod screw (9). The feeding device (2) can place the gripped support rod screw (9) in the positioning fixture (11) in a set direction; The sealing ring assembly device (3) can assemble the gripped sealing ring (93) into the sealing groove (92) provided on the strut screw (9); The support ring assembly device (4) can assemble the gripped support ring (95) into contact with the positioning shoulder (94) provided on the strut screw (9) under a set pressure; the sealing ring (93) is placed between the support ring (95) and the strut screw (9); The coupling transmission assembly assembly device (5) can fit the coupling (96) onto the bearing (97) to assemble the coupling transmission assembly (98), and key the coupling transmission assembly (98) to abut against the support ring (95) on the strut screw (9) under a set pressure; The gasket assembly device (6) is capable of assembling the gripped gasket (99) into contact with the coupling drive assembly (98) on the strut screw (9); The transfer device (7) can transfer the strut screw (9) with the assembled shim (99) in the positioning fixture (11) to the riveting assembly device; The riveting device (8) can clamp and limit the strut screw (9) and rivet the gasket (99) onto the strut screw (9) to lock the coupling (96)-bearing (97) assembly.

2. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 1, characterized in that, The positioning fixture (11) includes a base plate (111) vertically fixed on the bearing disc (1). The upper end of the base plate (111) is provided with a first limiting plate (112) and the lower end is provided with a second limiting plate (113). The second limiting plate (113) is provided with a positioning slot (1131) that is adapted to the bottom end of the strut screw (9). The open snap-fit ​​slot (12) is provided on the first limiting seat. The first limiting plate (112) is provided with a vertical positioning hole (1121) and a horizontal positioning hole (1122). The middle part of the base plate (111) is provided with a movable gripper (114) for fixing the strut screw (9).

3. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 2, characterized in that, The support ring assembly device (4) includes a support ring distribution and positioning platform (41) fixed to the side of the bearing disc (1), a support ring gripping mechanism (42), and a positioning support mechanism (43). The support ring gripping mechanism (42) includes a vertically arranged support frame. The upper end of the support frame is provided with a support ring cross translation mechanism (421) capable of horizontal and vertical translation. The movable end of the support ring cross translation mechanism (421) is provided with a support ring gripping rod (422). The lower end of the support ring gripping rod (422) is provided with a first pressure sensor (423). The sensing end of the first pressure sensor (423) is connected to a support ring adsorption rod (424). The support ring suction rod (424) can use negative pressure to remove the support ring (95) from the support ring positioning groove (4111); the support frame positioning platform is provided with a support frame positioning seat (411), the support frame positioning seat (411) is provided with a support ring positioning groove (4111), and the bottom of the support ring positioning groove (4111) is provided with a support ring lifting rod (4112) for lifting the support ring (95); the positioning support mechanism (43) includes a support base, the support base is provided with a transverse moving unit (431), and the moving end of the transverse moving unit (431) is provided with a horizontal positioning pin (432) that is adapted to the horizontal positioning hole (1122).

4. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 2, characterized in that, The coupling transmission assembly assembly device (5) includes a coupling transmission assembly keying mechanism (51) and a coupling transmission assembly pressing mechanism (52). The coupling transmission assembly keying mechanism (51) includes a coupling material distribution positioning table (511), a bearing material distribution positioning table (513), and a coupling transmission assembly (98) gripping assembly mechanism fixed on the side of the bearing disk (1). The coupling transmission assembly (98) gripping assembly mechanism includes a horizontal operating arm (515) fixed on the side of the bearing disk (1). The horizontal operating arm (515) is provided with a rotary lifting mechanism. The movable end of the rotary lifting mechanism is provided with a fixed plate (518). The lower end of the fixed plate (518) is fixed with an assembly gripper (5181) and a coupling gripper (5182). The rotary lifting mechanism can drive the coupling gripper (5182) to rotate during the downward movement, so that the coupling transmission assembly (98) and the strut screw (9) are aligned. Key engagement; the coupling transmission assembly press-fitting mechanism (52) includes a mounting frame (521) fixed on the side of the bearing disc (1), the upper end of the mounting frame (521) is provided with a hydraulic telescopic rod (522), the movable end of the hydraulic telescopic rod (522) is provided with a second pressure sensor (523), the sensing end of the second pressure sensor (523) is provided with a pressure plate (524); the middle part of the mounting frame (521) is provided with an auxiliary positioning support mechanism (525), the auxiliary positioning support mechanism (525) includes an auxiliary horizontal movement unit (5251) and an auxiliary vertical movement unit (5253), the moving end of the auxiliary horizontal movement unit (5251) is provided with an auxiliary horizontal positioning pin (5252) adapted to the horizontal positioning hole (1122), and the moving end of the auxiliary vertical movement unit (5253) is provided with an auxiliary vertical positioning pin (5254) adapted to the vertical positioning hole (1121).

5. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 4, characterized in that, The rotary lifting mechanism is a ball spline rotary lifting mechanism (516). The center of the coupling jaw (5182) is on the same straight line as the axis of the ball spline shaft. The coupling jaw (5182) is slidably connected to the fixed plate (518) through the guide rod (5161). A first elastic reset member (519) providing preload is provided between the guide rod (5161) and the fixed plate (518). A distance sensor (5162) sensing the elastic force of the elastic reset member is provided on the fixed plate (518).

6. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 4, characterized in that, The rotary lifting mechanism includes a vertically movable downward pressing rod (517), a sliding sleeve (5183) on the fixed plate (518), and the center of the coupling jaw (5182) and the axis of the sliding sleeve (5183) are on the same straight line; the sliding sleeve (5183) is slidably connected to the lower end of the downward pressing rod (517), and a first elastic reset member (519) for providing preload is provided between the sliding sleeve (5183) and the downward pressing rod (517); the downward pressing rod... The rod (517) has an arc-shaped groove (5171) on its side wall, and a floating block (5172) is slidably connected in the arc-shaped groove (5171); a guide pin (5173) is provided on the front of the floating block (5172); a second elastic reset member (5174) is provided on both sides of the arc-shaped groove (5171) to limit the position of the floating block (5172); and a spiral groove (5184) is provided on the sliding sleeve (5183) to match the guide pin (5173).

7. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 1, characterized in that, The feeding device (2) includes a first robotic arm (21) fixed to the side of the bearing disc (1), and the movable end of the first robotic arm (21) is provided with a first gripper mechanism (22) capable of gripping the support rod screw (9); the sealing ring assembly device (3) includes a sealing ring positioning slide (32) fixed to the side of the bearing disc (1) and a sealing ring gripping mechanism (31), the sealing ring gripping mechanism (31) includes a vertical plate, the upper end of the vertical plate is provided with a sealing ring cross translation mechanism (311) capable of horizontal and vertical translation, and the movable end of the sealing ring cross translation mechanism (311) is provided with a sealing ring gripper (312); the sealing ring positioning slide (32) is provided with a groove (321) adapted to the sealing ring gripper (312), and the sealing ring is positioned The positioning slide (32) is powered by the sealing ring pushing mechanism (33) to move in a directional manner to move the sealing ring (93) to a set position; the sealing ring positioning slide (32) is provided with a sealing ring positioning plate (322), and the front end of the sealing ring positioning plate (322) is provided with a sealing ring positioning groove (3221) for positioning the sealing ring (93) delivered to the sealing ring positioning slide (32), and the sealing ring positioning plate (322) can move in a directional manner under the power provided by the sealing ring telescopic mechanism (323); the sealing ring gripping mechanism (31) is used to grip the sealing ring (93) placed in the flower trough (321) at the set position and assemble the sealing ring (93) into the sealing groove (92) provided on the strut screw (9).

8. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 1, characterized in that, The gasket assembly device (6) includes a gasket distribution and positioning platform (62) fixed to the side of the bearing disc (1) and a gasket gripping mechanism (63). The gasket gripping mechanism (63) includes a vertically arranged support plate. The upper end of the support plate is provided with a gasket cross translation mechanism (631) that can translate laterally and vertically. The movable end of the gasket cross translation mechanism (631) is provided with a gasket suction rod (632). The gasket distribution and positioning platform (62) is provided with a gasket positioning seat (621). The gasket positioning seat (621) is provided with a gasket positioning groove (6211). The bottom of the gasket positioning groove (6211) is provided with a gasket lifting rod (6212) for lifting the gasket (99). The gasket suction rod (632) can use negative pressure to remove the gasket (99) from the gasket positioning groove (6211).

9. The strut and lead screw assembly and riveting equipment with a keyed coupling according to claim 1, characterized in that, The transfer device (7) includes a second robotic arm (71) fixed to the side of the bearing disk (1), and the movable end of the second robotic arm (71) is provided with a second gripper mechanism (72) capable of gripping the strut screw (9); the riveting device (8) includes a fixed seat (81) fixed to the side of the bearing disk (1), and a clamping plate (82) is symmetrically arranged in the middle of the fixed seat (81), and a limiting groove (821) adapted to the process positioning groove (91) is provided on the clamping plate (82); the clamping plate (82) is powered by the pushing mechanism (822) to move laterally so as to clamp the strut screw (9); the upper end of the fixed seat (81) is provided with a riveting machine (83), and the riveting machine (83) is used to expand the diameter of the end of the strut screw (9).

10. A method for assembling and riveting a strut with a coupling, wherein a coupling (96) is keyed to the end of the strut (9), and a bearing (97) is sleeved on the coupling (96), characterized in that, Specifically, the following steps are included: S1. A process positioning groove (91) is machined on the strut screw (9), and the process positioning groove (91) is located below the coupling (96); S2. Fix the strut screw (9) on the positioning fixture (11) provided on the bearing disc (1). The positioning fixture (11) is provided with an open snap-fit ​​groove that matches the process positioning groove (91). The bearing disc (1) can rotate horizontally under the action of the driving device. S3. Assemble the sealing ring (93) into the sealing groove (92) provided on the strut screw (9); S4. Provide support force to the positioning fixture (11) and assemble the support ring (95) to abut against the positioning shoulder (94) provided on the strut screw (9) according to the set pressure. The sealing ring (93) is located between the strut screw (9) and the support ring (95). S5. The bearing (97) is fitted onto the coupling (96) to assemble the coupling transmission assembly (98) and provide support force to the positioning fixture (11). The coupling transmission assembly (98) is then keyed to abut against the support ring (95) on the strut screw (9) according to the set pressure. S6. Assemble the gasket (99) to abut against the coupling drive assembly (98) on the strut screw (9); S7. Transfer the strut screw (9) from step S6 from the positioning fixture (11) to the riveting station; S8. At the riveting station, the strut screw (9) is positioned by the process positioning groove (91), and the gasket (99) is riveted to the strut screw (9) by the riveting process to lock the shaft transmission assembly (98).

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