Inspection method for outer joint member of constant velocity universal joint using force sensor and robot, and inspection device

Abstract

To provide an inspection method capable of automating a spline fitting inspection or a track groove PCD rank selection inspection of an outer joint member of a constant velocity universal joint, and an inspection device.SOLUTION: An inspection method for an outer joint member of a constant velocity universal joint for performing a spline fitting inspection by using a robot, in which a force sensor is provided in a tip end of a hand of the robot and the other end is connected to a spline model, feeding a detection force of the force sensor back to operation control of the robot and performing a spline fitting inspection includes: a phase matching step of performing phase matching of a spline by performing rotation in a state where an end of the spline of the outer joint member gripped by a stationary unit provided in a base is covered with the spline model; a phase matching determination step of determining the matching of the phase from the detection force of the force sensor with respect to a rotation moment load; and a spline fitting inspection step of then inserting the spline model, inspecting an insertion height of the spline model and inspecting a pressing force of the spline model. Thus, the spline fitting inspection is performed.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to an inspection method and an inspection device for an outer joint member of a constant velocity universal joint using a force sensor and a robot. [Background technology]

[0002] Constant velocity universal joints, which make up the power transmission systems of automobiles and various industrial machines, connect two shafts, one on a driving side and one on a driven side, so that torque can be transmitted, and can transmit rotational torque at a constant velocity regardless of the operating angle of the two shafts. Constant velocity universal joints are broadly divided into fixed-type constant velocity universal joints, which allow only angular displacement, and sliding-type constant velocity universal joints, which allow both angular displacement and axial displacement. For example, in a drive shaft that transmits power from an automobile engine to the drive wheels, a sliding-type constant velocity universal joint is used on the differential side (inboard side), and a fixed-type constant velocity universal joint is used on the drive wheel side (outboard side).

[0003] One type of sliding type constant velocity universal joint is the tripod constant velocity universal joint. Tripod constant velocity universal joints are known to have rollers, which are torque transmission members, of either single roller or double roller types. A double roller type tripod constant velocity universal joint (hereinafter simply referred to as a tripod constant velocity universal joint) is mainly composed of an outer joint member, a tripod member as an inner joint member, and a roller assembly as a torque transmission member. A stem portion is formed integrally with the bottom of the cup portion of the outer joint member, and a spline is formed on the end of the stem portion for connection to a differential.

[0004] The outer joint member has three linear track grooves formed on its inner peripheral surface at equal circumferential intervals and extending in the axial direction, and roller guideways are formed on both sides of each track groove, facing each other in the circumferential direction, and extending in the axial direction. A tripod member and a roller assembly are housed inside the outer joint member. The tripod member has three trunnions protruding in the radial direction. The roller assembly is mainly composed of a roller, an inner ring disposed inside the roller and fitted onto the trunnions, and a plurality of needle rollers interposed between the roller and the inner ring, and is housed in the track grooves of the outer joint member. The inner peripheral surface of the inner ring forms an arc-shaped convex surface in a vertical cross section including the axis of the inner ring.

[0005] The outer peripheral surface of each trunnion of the tripod members has a straight shape in a longitudinal cross section including the trunnion axis and a generally elliptical shape in a cross section perpendicular to the trunnion axis. The outer peripheral surface contacts the inner peripheral surface of the inner ring in a direction perpendicular to the joint axis, and a gap is formed between the inner peripheral surface of the inner ring in the joint axial direction. In this tripod-type constant velocity universal joint, rollers of the roller assemblies attached to the trunnions of the tripod members roll on the roller guideways of the track grooves of the outer joint member. Because the cross section of the trunnion is generally elliptical, when the tripod-type constant velocity universal joint has an operating angle, the axis of the tripod members is inclined relative to the axis of the outer joint member, but the roller assemblies can tilt relative to the axes of the trunnions of the tripod members. Therefore, the rollers roll correctly on the roller guideways, thereby reducing induced thrust and sliding resistance and achieving low vibration in the joint. The three track grooves having roller guideways formed in the outer joint member are mainly of angular contact or circular contact shape.

[0006] In order to reduce manufacturing costs, sliding-type tripod constant velocity universal joints generally finish the inside of the cup portion of the outer joint member by cold forging, and do not perform finishing processes such as grinding on the inside of the cup portion after heat treatment. Therefore, in addition to the influence of the accuracy of cold forging, heat treatment deformation caused by heat treatment of the roller guideway of the track groove causes variations in the track diameter, which is the width dimension between the roller guideway surfaces on the pitch circle of the track groove. As a result, the track clearance, which is the clearance between the track diameter and the outer diameter of the roller, is affected.

[0007] In sliding tripod constant velocity universal joints, it is common to select and combine the roller outer diameter with the track diameter of the outer joint member to ensure an appropriate track clearance, but it is important in terms of productivity and manufacturing costs to make this selection and combination possible efficiently.

[0008] In the past, fitting inspections of the splines formed on the stem portion of the outer joint member of the tripod-type constant velocity universal joint described above, and track groove PCD rank selection inspections to select the appropriate combination of roller outer diameter with track diameter, have mainly been carried out manually. Spline fitting inspections and track groove PCD rank selection inspections require phasing of the outer joint member before fitting and selection inspections, and currently, this phasing is performed using large-scale equipment that uses sensors, etc. Although it is not for use with constant velocity universal joints, the following technology using robots has been proposed to automate fitting work.

[0009] For example, in the task of inserting a shaft into a gear hole, because force control alone requires a long insertion distance and takes a long time to complete, a technology has been proposed that shortens the insertion time by also using a camera (Patent Document 1). Also, when inspecting screw holes using a robot with a force detection unit, a screw limit gauge is inserted into the screw hole and rotated to determine whether it passes or fails, but the operation is stopped when force is detected. A technology has been proposed that enables stable insertion by determining the position based on one or more criteria, such as the insertion amount (Patent Document 2).

[0010] Furthermore, when inserting a cylindrical model into a hole in a product, if the dimensional tolerance is small, precise teaching is required. In this case, a technology has been proposed that enables smooth insertion by inserting the model while rotating it (Patent Document 3). [Prior art documents] [Patent documents]

[0011] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-85501 [Patent Document 2] Japanese Patent Publication No. 2018-202602 [Patent Document 3] Patent Publication No. 2021-84185 Summary of the Invention [Problem to be solved by the invention]

[0012] However, devices using sensors, etc. are expensive and require a long adjustment time because adjustments are made by the operator's sense. For this reason, it is conceivable to use force sensors and robots to simplify the equipment and reduce the adjustment time, but the method using a camera as in Patent Document 1 requires the camera to be set up, which creates adjustment work.

[0013] Furthermore, when inserting the spline shape or the model into the cup portion of the outer joint member, it is not possible to insert it while rotating, so the methods described in Patent Documents 2 and 3 cannot be used.

[0014] In view of the above problems, an object of the present invention is to provide an inspection method and an inspection device that can automate spline fit inspection and track groove PCD rank sorting inspection of outer joint members of constant velocity universal joints. [Means for solving the problem]

[0015] In order to achieve the above-mentioned object, the inventor (1) focused on using a robot for the phase alignment and model insertion operations in spline fitting inspections and track groove PCD rank selection inspections, and (2) based on this focus, came up with a new idea for an inspection method and device that can automate spline fitting inspections and track groove PCD rank selection inspections of constant velocity universal joints without relying on the operator's sense by measuring the state of phase alignment and model insertion as a force from a force sensor and feeding this back to the robot's operation control, thereby ensuring an appropriate insertion force and resulting in the present invention.

[0016] As a technical means for achieving the above-mentioned object, a first aspect of the present invention is a method for inspecting an outer joint member of a constant velocity universal joint, in which a force sensor is provided at the tip of the robot hand, one end of the force sensor is connected to the hand, and the other end is connected to a spline model, and the detection force of the force sensor is fed back to operation control of the robot to perform a spline fit inspection. The method comprises: a phase alignment step of rotating the outer joint member while placing the spline model over the end of the spline of the outer joint member held by a fixing unit provided on a base, and aligning the phase of the spline by rotating the spline model; a phase agreement determination step of determining whether the phase is equal based on the detection force of the force sensor with respect to a rotational moment load; and a spline fit inspection step of inserting the spline model to inspect the insertion height of the spline model and inspect the pressing force of the spline model, wherein the spline fit inspection is performed.

[0017] With the above configuration, it is possible to realize an inspection method that allows for automation of spline fit inspection of the outer joint member of a constant velocity universal joint.

[0018] A second aspect of the present invention is an inspection device for an outer joint member of a constant velocity universal joint, which inspects a spline fit by using a robot having a force sensor provided at the tip of its hand, one end of the force sensor connected to the hand and the other end connected to a spline model, and feeding back the detection force of the force sensor to operation control of the robot, wherein a spline fit inspection is performed, the spline fit inspection unit includes the spline model, the chuck, and a fixing unit fixed on a base, the chuck and the fixing unit are configured to be able to hold the outer joint member, the spline model of the spline fit inspection unit can be lowered onto the outer joint member held by the fixing unit, and the force sensor can detect a rotational moment load and a pressing force associated with matching phases of the spline model in the spline fit inspection unit,

[0019] With the above configuration, it is possible to realize an inspection device that can automate the spline fitting inspection of a constant velocity universal joint.

[0020] A third aspect of the present invention is an inspection method for an outer joint member of a constant velocity universal joint, which performs a track groove PCD rank screening inspection by using a robot having a force sensor provided at the tip of its hand, one end of the force sensor connected to the hand and the other end connected to a chuck, and feeding back the detection force of the force sensor to operation control of the robot, the method comprising: a phase matching step of gripping the outer joint member with the chuck, and rotating the outer joint member with an opening side end portion thereof placed over a track groove PCD rank indicator provided on a base, to align the phases of the track grooves; and a phase match determination step of determining whether the phases are matched from the detection force of the force sensor with respect to a rotational moment load,

[0021] With the above configuration, it is possible to realize an inspection method that enables automation of the track groove PCD rank sorting inspection of the outer joint member of a constant velocity universal joint.

[0022] A fourth aspect of the present invention is an inspection device for an outer joint member of a constant velocity universal joint, which performs a track groove PCD rank screening inspection by using a robot having a force sensor provided at the tip of a hand of the robot, one end of the force sensor connected to the hand and the other end connected to a chuck, and feeding back the detection force of the force sensor to operation control of the robot, wherein the track groove PCD rank screening inspection unit includes the chuck and a track groove PCD rank model fixed on the base, the outer joint member held by the chuck can be lowered onto the track groove PCD rank model in the track groove PCD rank screening inspection unit, and the force sensor can detect a rotational moment load associated with matching phases of the track groove PCD rank model in the track groove PCD rank screening inspection unit, and performs a track groove PCD rank screening inspection.

[0023] With the above configuration, it is possible to realize an inspection device that can automate the track groove PCD rank sorting inspection of the outer joint member of a constant velocity universal joint.

[0024] The first to fourth aspects of the present invention are collectively referred to as the present invention. An advantageous configuration of the present invention is a method for inspecting an outer joint member of a constant velocity universal joint, characterized in that both the spline fit inspection and the track groove PCD rank selection inspection are performed. This makes the present invention suitable as an inspection method that allows the spline fit inspection and track groove PCD rank selection inspection of a constant velocity universal joint to be automated.

[0025] Furthermore, an inspection device for an outer joint member of a constant velocity universal joint can be provided, characterized by performing both the spline fitting inspection and the track groove PCD rank selection inspection. This makes the device suitable as an inspection device that can automate the spline fitting inspection and track groove PCD rank selection inspection of a constant velocity universal joint.

[0026] Specifically, the track groove PCD rank model provided on the base is characterized by being composed of a plurality of rollers with different outer diameters, which allows the track groove PCD rank model to be efficiently configured.

[0027] The inspection method and device for performing both the spline fit inspection and the track groove PCD rank selection inspection of the outer joint member of the above-mentioned constant velocity universal joint are characterized in that a spline model is provided at the center of a robot hand, a chuck is provided around the spline model, and when the outer joint member is rotated with the end of the track groove PCD rank model covered to align the phase of the track grooves, the fit state achieved by matching the phase of the spline of the outer joint member with the spline model prevents slippage between the outer joint member and the chuck due to the rotational moment of the track groove PCD rank selection inspection. This makes it possible to reliably prevent slippage between the outer joint member and the chuck with a compact configuration of the spline model and chuck. [Effects of the Invention]

[0028] According to the present invention, it is possible to realize an inspection method and an inspection device that can automate the spline fit inspection and track groove PCD rank selection inspection of the outer joint member of a constant velocity universal joint.

[0029] As an advantageous configuration, the inspection method and inspection device for the outer joint member of a constant velocity universal joint are characterized by performing both the spline fit inspection and the track groove PCD rank selection inspection, making them suitable as an inspection method and inspection device that can automate the spline fit inspection and track groove PCD rank selection inspection of a constant velocity universal joint. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a longitudinal sectional view of a constant velocity universal joint that is an object of an inspection method and inspection device for an outer joint member of a constant velocity universal joint according to one embodiment of the present invention. [Figure 2] FIG. 2 is a cross-sectional view taken along line AA in FIG. [Figure 3] 2 is a plan view of the roller assembly and the trunnion as viewed along the line BB in FIG. 1. [Figure 4] FIG. 4 is a vertical cross-sectional view of the roller assembly taken along line EE in FIG. 3. [Figure 5] It is a longitudinal sectional view showing a state where the constant velocity universal joint of FIG. 1 takes an operating angle. [Figure 6] It shows the outer peripheral surface of the outer joint member of FIG. 1. FIG. (A) is a view showing the outer peripheral surface seen in the direction of the arrow along the F - F line of FIG. (B), and FIG. (B) is a view showing the outer peripheral surface seen in the direction of the arrow along the C - C line of FIG. (A). [Figure 7] It is a view showing the outer peripheral surface of the outer joint member seen in the direction of the arrow along the G - G line whose rotational phase is different from the C - C line of FIG. 6(A). [Figure 8] It is a perspective view of the outer joint member of FIG. 6(A) seen from the opening side toward the bottom. [Figure 9] It is an enlarged schematic view showing the fitting state of the track groove and the roller assembly of the outer joint member of FIG. 2. [Figure 10] It is a schematic view showing the main part of an inspection method and an inspection apparatus for an outer joint member of a constant velocity universal joint according to an embodiment of the present invention. This embodiment shows an inspection method and an inspection apparatus for an outer joint member of a constant velocity universal joint as an advantageous configuration of the present invention that performs both spline fitting inspection and track groove PCD rank selection inspection. [Figure 11] It is a block diagram showing the feedback control of a robot by force measurement of a force - sensing sensor in the inspection method and inspection apparatus according to this embodiment. [Figure 12] It is an enlarged perspective view showing the details of the hand of the robot in the inspection method and inspection apparatus according to this embodiment. [Figure 13] It shows a spline model incorporated in the hand of the robot shown in FIG. 12. FIG. (A) is a plan view, and FIG. (B) is a front view. [Figure 14] It is a front view showing the main part of the spline fitting inspection in the inspection method and inspection apparatus according to this embodiment. FIG. (A) shows the state before spline insertion, and FIG. (B) shows the state after spline insertion. [Figure 15] It is a plan view showing a track groove PCD rank model in the inspection method and inspection apparatus according to this embodiment. The track groove PCD rank model is composed of a plurality of pieces with different roller outer diameter sizes. [Figure 16]FIG. 10 is a front view showing a state in which the track groove PCD rank model is composed of a plurality of rollers with different outer diameter sizes. [Figure 17] FIG. 17 is a right side view of FIG. 16. [Figure 18] FIG. 10 is a front view showing the main parts of the track groove PCD rank selection inspection in the inspection method and inspection device according to the present embodiment, where FIG. 10A shows the state before phase alignment of the track groove PCD rank model, and FIG. 10B shows the state after phase alignment of the track groove PCD rank model. [Figure 19] 1A to 1D are explanatory views showing the relationship between outer joint members and track groove PCD rank examples in an inspection method and an inspection device according to an embodiment of the present invention, in which FIG. 1A shows a small-sized PCD rank example, and FIGS. 1B to 1D show the relationship between outer joint members and PCD rank examples that gradually increase in size. [Figure 20] FIG. 10 is a flowchart showing the flow of spline fitting inspection in the inspection method and inspection device according to the present embodiment. [Figure 21] FIG. 2 is a flowchart showing the flow of a track groove PCD rank sorting inspection in the inspection method and inspection device according to the present embodiment. [Figure 22] 1 is a cross-sectional view of a constant velocity universal joint of a different type that is the subject of an inspection method and an inspection device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0031] First, a constant velocity universal joint that is an object of an inspection method and inspection device for an outer joint member of a constant velocity universal joint according to one embodiment of the present invention is shown in FIGS. <Constant velocity universal joint targeted by inspection method and inspection device according to one embodiment of the present invention> First, the overall configuration of the constant velocity universal joint in question will be described with reference to Figures 1 to 5. Figure 1 is a longitudinal cross-sectional view of the constant velocity universal joint in question. Figure 2 is a transverse cross-sectional view taken along line AA in Figure 1. Figure 3 is a plan view of the roller assembly and trunnion as viewed along line BB in Figure 1, and Figure 4 is a longitudinal cross-sectional view of the roller assembly taken along line EE in Figure 3. Figure 5 is a longitudinal cross-sectional view showing the constant velocity universal joint in Figure 1 at an operating angle.

[0032] As shown in Figures 1 and 2, the tripod type constant velocity universal joint 1 is mainly composed of an outer joint member 2, a tripod member 3 as an inner joint member, and a roller assembly 4 as a torque transmission member. The outer joint member 2 has a cup portion 2a with one open end, and three linear track grooves 5 extending in the axial direction are formed on its inner peripheral surface at equal circumferential intervals, and roller guide surfaces 6 are formed on both sides of each track groove 5, arranged circumferentially opposite each other and extending in the axial direction. The tripod member 3 and the roller assembly 4 are housed inside the outer joint member 2.

[0033] The tripod member 3 has three trunnions 7 protruding in the radial direction. A shaft 9 is spline-fitted into a center hole 8 of the tripod member 3 and is fixed in the axial direction by a retaining ring 10. The roller assembly 4 is mainly composed of rollers 11, an inner ring 12 arranged inside the rollers 11 and fitted onto the trunnions 7, and a plurality of needle rollers 13 interposed between the rollers 11 and the inner ring 12. The roller assemblies 4 are housed in the track grooves 5 of the outer joint member 2, and the center of the roller assemblies 4 (rollers 11) in the width direction is located on the pitch circle PC of the track grooves 5.

[0034] As shown in Figure 4, needle rollers 13 are arranged between cylindrical inner peripheral surfaces 11b of rollers 11 and cylindrical outer peripheral surface 12b of inner ring 12 in a so-called full-complement state without a cage, with cylindrical inner peripheral surfaces 11b of rollers 11 serving as outer raceway surfaces and cylindrical outer peripheral surface 12b of inner ring 12 serving as inner raceway surfaces. Inner peripheral surface 12a of inner ring 12 forms an arc-shaped convex surface in a vertical cross section including the axis of inner ring 12. This arc-shaped convex surface has a radius of curvature ri of, for example, about 30 mm to allow for an inclination of about 2 to 3 degrees of trunnion 7 with respect to inner ring 12 due to whirling, which is unique to tripod-type constant velocity universal joints.

[0035] The outer peripheral surface 11a of the roller 11 is formed as a partial sphere with a radius of curvature r whose center of curvature is on the axis 4x of the roller assembly 4, in other words, on the axis 7x of the trunnion 7 shown in Figure 3. The roller assembly 4, which is made up of the inner ring 12, needle rollers 13, and rollers 11 of the roller assembly 4, is structured to be inseparable by washers 14 and 15. The washers 14 and 15 are separated at one point in the circumferential direction (see Figure 3) and are fitted into an annular groove in the cylindrical inner peripheral surface 11b of the roller 11 in an elastically contracted state.

[0036] As shown in Figures 1 and 2, the outer peripheral surface 7a of each trunnion 7 of the tripod member 3 has a straight shape in a vertical cross section including the axis 7x of the trunnion 7 (see Figure 3). Also, as shown in Figure 3, the outer peripheral surface 7a of the trunnion 7 has a substantially elliptical shape in a cross section perpendicular to the axis 7x of the trunnion 7, and is in contact with the inner peripheral surface 12a of the inner ring 12 in a direction perpendicular to the axis of the joint, i.e., in the direction of the major axis a, and a gap m is formed between the outer peripheral surface 7a and the inner peripheral surface 12a of the inner ring 12 in the axial direction of the joint, i.e., in the direction of the minor axis b. In the tripod-type constant velocity universal joint 1, the rollers 11 of the roller assemblies 4 attached to the trunnions 7 of the tripod member 3 roll on the roller guideways 6 of the track grooves 5 of the outer joint member 2.

[0037] Because the cross section of the trunnion 7 is approximately elliptical, at a commonly used relatively small operating angle, the axis of the tripod member 3 is inclined with respect to the axis of the outer joint member 2 as shown in Figure 5, but the roller assembly 4 can be inclined with respect to the axis of the trunnion 7 of the tripod member 3. Therefore, the rollers 11 of the roller assembly 4 and the roller guideways 6 are prevented from intersecting obliquely and roll correctly, which makes it possible to reduce induced thrust and sliding resistance and achieve low vibration of the joint. In this specification, the term "approximately elliptical shape" is not limited to a literal elliptical shape, but also includes shapes generally referred to as egg shapes, oval shapes, etc.

[0038] Torque is transmitted by contact between the trunnion 7, which has a substantially elliptical cross section, and the inner ring 12, which has a circular inner peripheral surface 12a, so the ellipticity b / a of the major axis a and minor axis b of the substantially elliptical shape of the trunnion 7 and the radius of curvature ri of the inner peripheral surface 12a of the inner ring 12 (see Figure 4) are set to reduce the surface pressure at the contact point between the trunnion 7 and the inner ring 12 and to ensure the strength of the trunnion 7. Therefore, at a commonly used relatively small operating angle, the roller assembly 4 can tilt with respect to the trunnion 7, as described above in Figure 5, so the rollers 11 of the roller assembly 4 can roll without intersecting the roller guideway 6 at an angle.

[0039] The overall configuration of the tripod constant velocity universal joint that is the subject of the inspection method and inspection device according to this embodiment has been described above. <Specific explanation of outer joint members> Next, the outer joint member will be described in detail with reference to Figs. 6 to 9. Fig. 6 shows the outer peripheral surface of the outer joint member of Fig. 1, Fig. 6(A) is a view showing the outer peripheral surface as viewed along line FF in Fig. 6(B), and Fig. 6(B) is a view showing the outer peripheral surface as viewed along line CC in Fig. 6(A). Fig. 7 is a view showing the outer peripheral surface of the outer joint member as viewed along line GG, which is in a different rotational phase from line CC in Fig. 6(A). Fig. 8 is a perspective view of the outer joint member of Fig. 6(A) as seen from the opening side toward the bottom. Fig. 9 is an enlarged schematic view showing a state in which the track grooves of the outer joint member of Fig. 2 are fitted into the roller assemblies.

[0040] As shown in Figures 6(B) and 7, a stem portion 2b is integrally formed with the bottom portion 2c of the cup portion 2a of the outer joint member 2. The stem portion 2b has a seal surface 2d, a mating shaft portion 2e, a shaft spline 2f, and a retaining ring groove 2g at the shaft end. The shaft spline 2f is the target area for spline fitting inspection. As shown in Figure 6(A), the cup portion 2a is formed with a variable diameter shape, and three recesses 2h are formed on its approximately cylindrical outer periphery. The inner periphery of the cup portion 2a, indicated by the dashed line, is composed of a large diameter portion 2i, a small diameter portion 2j, and a roller guideway 6 connecting the large diameter portion 2i and the small diameter portion 2j. The variable diameter shape with the recesses 2h on the approximately cylindrical outer periphery of the cup portion 2a is designed in consideration of the fluidity of the material during cold forging.

[0041] The outer joint member 2 in Fig. 7 is shown in a state where the rotational phase around the axis is different from that of the outer joint member 2 in Fig. 6(B). Therefore, the position of the recess 2h in the rotational direction is different between Fig. 7 and Fig. 6(B). Although not shown, the positions of the large diameter portion 2i, the small diameter portion 2j formed on the inner periphery of the cup portion 2a and the roller guideway 6 connecting the large diameter portion 2i and the small diameter portion 2j in the rotational direction are also different.

[0042] FIG. 8 shows a perspective view of the outer joint member 2 shown in FIG. 6(A) viewed from the opening side toward the bottom portion 2c. The outer joint member 2 is generally manufactured through a forging process, a cutting process, a hardening process, and a grinding process. The large-diameter portion 2i, the small-diameter portion 2j, and the roller guideways 6 in the cup portion 2a are finished by cold forging to reduce manufacturing costs (the interior of the cup portion 2a is not subjected to finishing processes such as grinding after heat treatment). Therefore, in addition to the influence of the accuracy of cold forging, heat treatment deformation occurs in the roller guideways 6 of the track grooves 5 during heat treatment, which causes variations in the track diameter, which is the width dimension between the roller guideways 6 on the pitch circle of the track grooves 5. This affects the track clearance, which is the clearance between the track diameter and the outer diameter of the roller.

[0043] In sliding tripod constant velocity universal joints, it is common to select and combine the roller outer diameter with the track diameter of the outer joint member to ensure an appropriate track clearance, but it is important in terms of productivity and manufacturing costs to make this selection and combination possible efficiently.

[0044] The details of the engagement between the track grooves 5 of the outer joint member 2 and the roller assembly 4 in FIG. 2 will be described with reference to FIG. 9. In FIG. 9, the center line 5x of the track grooves 5 and the axis 7x of the trunnion 7 are shown aligned, and only a cross section of the outer joint member 2 and a side view of the roller 11 are shown. The outer peripheral surface 11a of the roller 11 is formed as a partial sphere with a curvature radius r and a center of curvature Or located on the axis 7x of the trunnion 7. The roller guideway 6 is formed as a Gothic arch-shaped cross section with a curvature radius R, which passes through the intersection T between the pitch circle PC of the track groove 5 and the center line 5x of the track groove 5, and extends beyond the center line 5x of the track groove 5 on a line with a contact angle α, and extends parallel to the axis of the joint. The curvature radius R is set appropriately larger than the curvature radius r. Therefore, the outer peripheral surface 11a of the roller 11 and the roller guideway 6 are in angular contact at two points with a contact angle α relative to a horizontal line XX passing through the intersection T. Although the illustration shows an angular contact case in which the outer peripheral surface 11a of the roller 11 and the roller guideway 6 come into contact at two points with a contact angle α, the cross section of the roller guideway 6 of the track groove 5 may be formed into a partially cylindrical shape, so that the roller guideway 6 and the roller 11 come into circular contact.

[0045] The diameter of the pitch circle PC of the track groove 5 is PCD. The width between the roller guideways 6 on the pitch circle PC of the track groove 5 is the track diameter L. That is, the track diameter L is the width between the roller guideways 6 on the horizontal line XX passing through the intersection T shown in Figure 9. In this specification, the track diameter L has the above meaning. A track clearance δ is formed between the track diameter L and the outer diameter dr (= 2 × r) of the outer peripheral surface 11a of the roller 11. In addition to the influence of the accuracy of cold forging, the track diameter L varies due to heat treatment deformation caused by heat treatment of the roller guideways 6 of the track groove 5. This affects the track clearance δ. If the track clearance δ becomes large, rattle noise and other noise may occur under torque load, affecting NVH characteristics (low vibration characteristics). Therefore, to ensure an appropriate track clearance δ, the roller outer diameter dr is selected and combined with the track diameter L of the outer joint member 2. Details of the track groove PCD model will be described later.

[0046] Next, a method and an inspection device for inspecting an outer joint member of a constant velocity universal joint according to one embodiment of the present invention will be described with reference to Figures 10 and 11. This embodiment provides an inspection method and an inspection device for an outer joint member of a constant velocity universal joint that are advantageously configured to perform both a spline fitting inspection and a track groove PCD rank screening inspection. <Inspection method and inspection device according to this embodiment> FIG. 10 is a schematic diagram showing the main parts of the inspection method and inspection device according to this embodiment, and FIG. 11 is a block diagram showing feedback control of a robot based on force measurement by a force sensor in the inspection method and inspection device according to this embodiment.

[0047] As shown in Fig. 10, the inspection device 110 according to this embodiment mainly comprises a base 111 of the inspection device 110, a robot 100 mounted on the base 111, a fixing unit 113 for the outer joint member, a track groove PCD rank model 114, and a feedback control device 112 for the robot 100 (see Fig. 11). A force sensor 102 is provided at the tip of a hand 101 of the robot 100, with one end of the force sensor 102 connected to the hand 101 and the other end connected to a spline model 103 and a chuck 104. The fixing unit 113 is attached to a plate portion 113d and fixed to the base 111. The track groove PCD rank model 114 is attached to a plate portion 114d and fixed to the base 111.

[0048] The state of phase alignment and model insertion, which will be described later, is measured as force by the force sensor 102 and fed back to the operation control of the robot 100, as shown in Fig. 11. By accurately outputting the coordinate position of the hand 101 of the robot 100 based on the control signal of the controller 105, an appropriate insertion force can be achieved, enabling inspection that does not rely on the operator's sense.

[0049] <Spline fitting inspection> The spline fitting inspection will be described with reference to Figs. 12 to 14. Fig. 12 is an enlarged perspective view showing the details of the robot hand. Fig. 13 shows a spline model incorporated into the robot hand shown in Fig. 12, with Fig. 13(A) being a plan view and Fig. 13(B) being a front view. Fig. 14 is a front view showing the main parts of the spline fitting inspection, with Fig. 14(A) showing the state before the spline is inserted and Fig. 14(B) showing the state after the spline is inserted.

[0050] 12 shows details of the assembled state of the force sensor 102, spline model 103, and chuck 104 attached to the tip (not shown) of the hand 101 of the robot 100. The spline model 103 is provided at the center of the hand 101, and the chuck 104 is provided so as to surround the spline model 103. The spline model 103 and chuck 104 are connected to the other end of the force sensor 102.

[0051] As shown in Figures 13(A) and 13(B), the spline model 103 is formed in a disk shape with a spline hole 103a formed in the center. The spline hole 103a is subjected to a fitting test to check for burrs or spline catches caused by unprocessed parts on the axial spline 2f shown in Figures 6(A), 6(B), and 7. Therefore, the spline hole 103a of the spline model 103 is set to have a slightly larger diameter than the axial spline 2f, taking into account the fitting test for burrs and unprocessed parts on the axial spline 2f. A key groove 103b is formed on the top surface of the spline model 103 to prevent misalignment of the rotational phase.

[0052] An overview of spline fit inspection will be described with reference to FIGS. 14(A) and 14(B). FIGS. 14(A) and 14(B) illustrate the portion of the robot 100 shown in FIG. 10, including the hand 101, the force sensor 102, the spline model 103, the chuck 104, and the fixing unit 113 below. A spline fit inspection unit 110S in an inspection device 110 according to this embodiment includes the spline model 103, the chuck 104, and the fixing unit 113. As shown in FIG. 14(A), the outer joint member 2 is held by the fixing unit 113 with the chuck 113a. The hand 101 (not shown) descends to place the spline model 103 over the end of the shaft spline 2f of the outer joint member 2. The spline model 103 of the spline fit inspection unit 110S is configured to be able to descend onto the outer joint member 2 held by the fixing unit 113. In this state, the spline model 103 is rotated to perform phase alignment. This process is one embodiment of the "phase alignment process" in this specification and claims. Then, the phase of the shaft spline 2f and the spline hole 103a of the spline model 103 (see Figure 13(A)) are aligned.

[0053] To determine whether the phases are aligned, the force sensor 102 detects the rotational moment as a force, and the determination result is sent to the controller 105 in FIG. 11. This process is an embodiment of the "phase alignment determination process" in this specification and claims. Then, based on a control signal from the controller 105, feedback is provided to the motion control of the robot 100, and the axial spline 2f shown in FIG. 14(A) is inserted into the spline model 103 up to its base end, resulting in the state shown in FIG. 14(B). This completes the spline fit inspection. This process is an embodiment of the "spline fit inspection process" in this specification and claims. The spline insertion height in the spline fit inspection is inspected based on the coordinate position of the robot 100 based on the control signal from the controller 105 in FIG. 11, and the pressing force against the spline model 103 is inspected based on the detection force of the force sensor 102. Then, insertion up to the base end of the spline 2f is confirmed based on the insertion height and pressing force of the spline model 103. If there are burrs or unfinished parts on the spline 2f, it will get stuck, the pressing force will increase and it will stop midway. At this time, the high insertion height of the spline model 103 makes it possible to inspect for burrs and unfinished parts.

[0054] <Track groove PCD rank selection inspection> Next, examples of track groove PCD ranks in the track groove PCD rank screening inspection will be described with reference to Fig. 15 to Fig. 17. Also, Fig. 9 mentioned above will be referred to as appropriate. Fig. 15 is a plan view showing examples of track groove PCD ranks, Fig. 16 is a front view showing examples of track groove PCD ranks, and Fig. 17 is a right side view of Fig. 16.

[0055] As shown in Figures 16 and 17, the track groove PCD rank model 114 is composed of a tripod member corresponding portion 114a, a roller assembly corresponding portion 114b, a shaft corresponding portion 114c, and a plate portion 114d. The tripod member corresponding portion 114a, the roller assembly corresponding portion 114b, and the shaft corresponding portion 114c generally correspond to the tripod member 3, the roller assembly 4, and the intermediate shaft 9, which are product components of the tripod-type constant velocity universal joint 1, respectively. The tripod member corresponding portion 114a includes a trunnion corresponding portion 114e and is provided on the shaft corresponding portion 114c. The shaft corresponding portion 114c is attached to the plate portion 114d, and the plate portion 114d is fixed to the base 111 (see Figure 10). A plurality of track groove PCD rank models 114 are arranged on the plate portion 114d.

[0056] The roller assembly corresponding portion 114b has a structure basically similar to that of the roller assembly 4 as a finished product. That is, the roller assembly corresponding portion 114b is mainly composed of a roller, an inner ring disposed inside the roller and fitted onto the trunnion, and a plurality of needle rollers interposed between the roller and the inner ring. As shown in FIG. 15, the outer diameter of the roller of the roller assembly corresponding portion 114b is d. The inner ring of the roller assembly corresponding portion 114b is fitted onto the trunnion corresponding portion 114e (see FIG. 17). As with the finished product, the roller assembly corresponding portion 114b is configured to be movable relative to the trunnion corresponding portion 114e in the inclined and axial directions. Therefore, when the roller assembly corresponding portion 114b is inserted into the cup portion 2a of the outer joint member 2, the roller assembly corresponding portion 114b is stabilized on the pitch circle PC of the track grooves 5, i.e., on the horizontal line XX passing through the intersection point T shown in FIG. 9.

[0057] The roller of the roller assembly corresponding part 114b will be described in detail with reference to Fig. 9. In the product, a track gap δ is formed between the track diameter L, which is the width dimension between the roller guideways 6 on the pitch circle PC of the track groove 5, and the outer diameter dr (= 2 × r) of the outer peripheral surface 11a of the roller 11, so the outer diameter d of the roller of the roller assembly corresponding part 114b of the track groove PCD rank model 114 is basically formed to a dimension slightly larger than the outer diameter dr of the outer peripheral surface 11a of the roller 11 as a product plus the track gap δ.

[0058] As described above, the track diameter L of the outer joint member 2 varies due to the influence of the accuracy of cold forging, as well as heat treatment deformation caused by heat treatment of the roller guideway surfaces 6 of the track grooves 5. Therefore, to ensure an appropriate track clearance δ, it is necessary to select and combine the track diameter L of the outer joint member 2 with the roller outer diameter dr. However, roller assemblies 4 with different outer diameters dr of the rollers 11 are stocked.

[0059] In order to perform the selective combination, the track diameter L of the outer joint member 2 is sorted and inspected using the track groove PCD rank model. As described above, the roller outer diameter d of the roller assembly corresponding portion 114b of the track groove PCD rank model 114 is basically formed to a dimension slightly larger than the outer diameter dr of the outer peripheral surface 11a of the roller 11 as a product plus the track clearance δ. Since the track diameter L of the track grooves 5 of the outer joint member 2 varies greatly compared to the dimensional difference in the outer diameter dr of the roller 11, for example, as shown in FIG. 15, a plurality of track groove PCD rank models 114(1) to 114(7) representing ranks 1 to 7 are arranged side by side on the plate portion 114d.

[0060] The roller outer diameter d of the roller assembly corresponding portion 114b of the track groove PCD rank model 114 varies for each rank in the same dimension as the outer diameter dr of the product roller 11. That is, the roller outer diameter d2 of the roller assembly corresponding portion 114b of the track groove PCD rank model 114(2) is set slightly larger than the roller outer diameter d1 of the roller assembly corresponding portion 114b of the track groove PCD rank model 114(1), and the roller outer diameter d gradually increases as the track groove PCD rank model 114(3) to 114(7) progress.

[0061] The track groove PCD rank screening inspection will be explained in detail with reference to Figures 18 and 19. Figure 18 is a front view showing the main parts of the track groove PCD rank screening inspection in the inspection method and inspection device according to this embodiment, with Figure 18(A) showing the state of the track groove PCD rank model before phase alignment and Figure 18(B) showing the state of the track groove PCD rank model after phase alignment. Figure 19 shows the procedure for the track groove PCD rank screening inspection, with Figure 19(A) showing a small-sized PCD rank model and Figures 19(B) to 19(D) being explanatory views showing the relationship between the outer joint member and the PCD rank model that gradually increases in size.

[0062] The inspection device and inspection method according to this embodiment perform both a spline fit inspection and a track groove PCD rank screening inspection. The track groove PCD rank screening inspection unit 110R in the inspection device 110 includes a spline model 103, a chuck 104, and a track groove PCD rank model 114 (see FIGS. 18A and 18B). As shown in FIG. 18A, after the spline fit inspection is completed, the outer joint member 2 is gripped by the chuck 104, and the hand 101 of the robot 100 (see FIG. 10) descends to place the opening end of the outer joint member 2 over the track groove PCD rank model 114 on the plate portion 114d. In this state, the track grooves 5 and the track groove PCD rank model 114 are not in phase with each other, so that the track groove PCD rank model 114 abuts against the opening end of the outer joint member 2, as shown in FIG. 18A. In this state, the outer joint member 2 is rotated to align the phases of the track grooves 5 and the track groove PCD rank model 114. This process is one embodiment of the "phase alignment process" in this specification and claims. When the phases are aligned, as shown in FIG. 18(B), the track groove PCD rank model 114 is partially inserted into the opening end of the track groove 5, and a rotational moment load is generated. The force sensor 102 detects this load as a force and determines whether the phases are aligned. The result is transmitted to the controller 105 in FIG. 11. This process is one embodiment of the "phase alignment determination process" in this specification and claims. Based on a control signal from the controller 105, feedback is provided to the operation control of the robot 100, and the outer joint member 2 is inserted into the track groove PCD rank model 114. If the PCD rank can be confirmed and determined by checking the insertion height, which is the PCD rank inspection section W (see FIG. 8), the track groove PCD rank selection inspection is completed. If the PCD rank cannot be confirmed, as will be described later, the fitting check with the next track groove PCD rank model 114 is repeated to make a final PCD rank determination. Then, based on the final PCD rank of the outer joint member 2, a combination with the roller assembly 4 that will give a predetermined track clearance δ is selected.

[0063] The procedure for the track groove PCD rank screening inspection will be described with reference to FIG. 19. In FIG. 19, four track groove PCD rank models are shown in a simplified manner: FIG. 19(A) is a small-sized rank 1, FIG. 19(B) is a slightly smaller-sized rank 2, FIG. 19(C) is a slightly larger-sized rank 3, and FIG. 19(D) is a large-sized rank 4. In the track groove PCD rank screening inspection, a PCD rank inspection section W in the cup portion 2a of the outer joint member 2 is inspected. As shown in FIG. 8, the PCD rank inspection section W is a substantially central region in the axial direction of the track groove 5 (roller guideway 6) from the bottom 2c in the cup portion 2a to the opening-side end. By inserting the cup portion 2a of the outer joint member 2 into track groove PCD rank models of different sizes, a track groove PCD rank model 114 of the largest insertable size can be identified, and the track groove PCD rank screening inspection can be performed.

[0064] Specifically, as shown in Figure 19(C), when the PCD rank is the same as or larger than the track groove PCD rank model, the outer joint member 2 can be inserted into the track groove PCD rank model 114. When the PCD rank is smaller, as shown in Figure 19(D), the outer joint member 2 cannot be inserted into the track groove PCD rank model 114. The track groove PCD rank can be selected by identifying the track groove PCD rank model 114 with the largest insertable size. In the case of Figure 19(C), the outer joint member 2 is ranked 3. Outer joint members 2 corresponding to ranks 1 and 2 in Figures 19(A) and 19(B) are not shown.

[0065] FIG. 20 shows a flow chart summarizing the flow of spline fit inspection in the inspection method and inspection device according to this embodiment. As shown in FIGS. 10 and 14, the spline fit inspection begins with a phase alignment process in which the hand 101 of the robot 100 is rotated to align the phases. Then, a phase match determination process is performed to determine whether the spline 2f and the spline model 103 are aligned in phase based on the detection force of a force sensor for a rotational moment load. The spline model 103 is then inserted up to the base end of the spline 2f of the outer joint member 2. The spline fit inspection process then checks the insertion height and pressing force of the spline model 103 to confirm that the spline 2f has been inserted up to the base end. If the spline has burrs or imperfections, the spline will jam, increasing the pressing force and causing the process to stop midway. The high insertion height of the spline model 103 allows inspection for burrs and imperfections.

[0066] 21 shows a flow chart summarizing the flow of the track groove PCD rank selection inspection in the inspection method and inspection device according to this embodiment. The outer joint member 2 is moved onto the track groove PCD rank model 114, and the open end of the outer joint member 2 is placed over the track groove PCD rank model 114. In this state, the outer joint member 2 is rotated to align the phases of the track grooves 5 and the track groove PCD rank model 114. After determining that the phases match, the outer joint member 2 is inserted into the track groove PCD rank model 114, and the insertion height, which is the PCD rank inspection section W, is confirmed to determine the PCD rank and confirm the fit. This confirms the first rank.

[0067] If the first rank cannot be confirmed, the aforementioned track groove PCD rank selection inspection process is repeated to check the fit, and the second and subsequent ranks are confirmed, and a final rank determination is made.

[0068] The inspection method and inspection device according to this embodiment use a robot 100, and feed back the detection force of the force sensor 102 to the operation control of the robot 100 to perform a fitting inspection of the spline 2f of the outer joint member 2 of the constant velocity universal joint 1 and a track groove PCD rank selection inspection of the outer joint member 2, thereby realizing an inspection method and inspection device that can automate the spline fitting inspection and track groove PCD rank selection inspection of the constant velocity universal joint 1.

[0069] In the inspection method and inspection device according to this embodiment, a spline model 103 is provided at the center of the hand 101 of a robot 100, a chuck 104 is provided around the spline model 103, and when the outer joint member 2 is rotated while being placed over the track groove PCD rank model 114 to align the phases of the track grooves 5, the fitted state achieved by matching the phases of the spline 2f of the outer joint member 2 and the spline model 103 can prevent slippage between the outer joint member and the chuck due to the rotation moment during the track groove PCD rank screening inspection. Thus, the compact configuration of the spline model 103 and the chuck 104 can reliably prevent slippage between the outer joint member 2 and the chuck 104.

[0070] The inspection method and inspection device for the outer joint member of a constant velocity universal joint according to one embodiment of the present invention has been described above as having an advantageous configuration for performing both a spline fit inspection and a track groove PCD rank selection inspection. In addition to this embodiment, an inspection method and inspection device for the outer joint member of a constant velocity universal joint can be implemented that performs either a spline fit inspection or a track groove PCD rank selection inspection.

[0071] Specifically, it is possible to implement an inspection method for an outer joint member of a constant velocity universal joint that performs a spline fit inspection according to a first embodiment of the present invention, an inspection device for an outer joint member of a constant velocity universal joint that performs a spline fit inspection according to a second embodiment of the present invention, an inspection method for an outer joint member of a constant velocity universal joint that performs a track groove PCD rank selection inspection according to a third embodiment of the present invention, and an inspection device for an outer joint member of a constant velocity universal joint that performs a track groove PCD rank selection inspection according to a fourth embodiment of the present invention.

[0072] The contents described above regarding the configuration and effects of the spline fit inspection in the inspection method and inspection device for an outer joint member of a constant velocity universal joint that performs both a spline fit inspection and a track groove PCD rank selection inspection according to one embodiment of the present invention are the same as the spline fit inspection according to the first and second embodiments of the present invention, and the contents described above regarding the configuration and effects of the track groove PCD rank selection inspection in the inspection method and inspection device for an outer joint member of a constant velocity universal joint that performs both a spline fit inspection and a track groove PCD rank selection inspection according to one embodiment of the present invention are the same as the track groove PCD rank selection inspection according to the third and fourth embodiments of the present invention, and therefore apply mutatis mutandis.

[0073] <Different types of constant velocity universal joints targeted by an inspection method and inspection device according to an embodiment of the present invention> A constant velocity universal joint of a different type, which is the subject of an inspection method and inspection device according to one embodiment of the present invention, will be described with reference to the cross-sectional view of Figure 22. This is a single-roller tripod constant velocity universal joint, which differs from the double-roller type described above in that it is a single-roller type. Parts having similar functions will be assigned the same reference numerals, and the main points will be described.

[0074] As shown in Fig. 22, this tripod type constant velocity universal joint 1 includes an outer joint member 2, a tripod member 3 as an inner joint member, and rollers 11 as torque transmission members. The outer joint member 2 has a cup portion 2a with one open end, and three linear track grooves 5 extending in the axial direction are formed on its inner peripheral surface at equal intervals in the circumferential direction, and roller guide surfaces 6 are formed on both sides of each track groove 5, arranged circumferentially opposite each other and extending in the axial direction. The tripod members 3 and rollers 11 are housed inside the outer joint member 2.

[0075] The tripod member 3 has three trunnions 7 protruding in the radial direction. The rollers 11 are fitted onto the cylindrical outer peripheral surfaces 7a of the trunnions via a plurality of needle rollers 13 and are rotatably supported by the trunnions 7. The cylindrical outer peripheral surfaces 7a of the trunnions 7 form the inner raceways of the needle rollers 13, and the cylindrical inner peripheral surfaces 11b of the rollers 11 form the outer raceways of the needle rollers 13. The rollers 11 have spherical outer peripheral surfaces 11a with a radius of curvature r and a center of curvature located on the axis 7x of the trunnions 7. The contact between the spherical outer peripheral surfaces 11a of the rollers 11 and the roller guideway 6 can be either angular contact or circular contact as described above.

[0076] A plurality of needle rollers 13 are incorporated in a full complement state between the cylindrical outer peripheral surface 7a of the trunnion 7 and the cylindrical inner peripheral surface 11b of the roller 11. The needle rollers 13 contact an inner washer 15 attached to the base of the trunnion 7 on the radially inner side, and contact an outer washer 14 attached to the tip of the trunnion 7 on the radially outer side. The outer washer 14 is prevented from coming off by fitting a retaining ring 21 into an annular groove 20 formed at the tip of the trunnion 7. The outer washer 14 consists of a disk portion 14a extending radially from the trunnion 7 and a cylindrical portion 14b extending axially from the trunnion 7. The cylindrical portion 14b of the outer washer 14 has an outer diameter smaller than the cylindrical inner peripheral surface 11b of the roller 11, and the outer end 14c of the cylindrical portion 14b as viewed in the radial direction of the tripod member 3 is formed to have a larger diameter than the cylindrical inner peripheral surface 11b of the roller 11. Therefore, the roller 11 can move in the axial direction of the trunnion 7, and the end 14c prevents it from falling off.

[0077] The inspection method and inspection device according to the present embodiment described above can be applied to the single roller type tripod type constant velocity universal joint 1 shown in Fig. 22 as well, in the same way as the double roller type tripod type constant velocity universal joint 1 described above. The contents described above regarding the inspection method and inspection device according to the present embodiment apply mutatis mutandis.

[0078] The present invention is not limited to the above-described embodiments, and can of course be embodied in various other forms without departing from the spirit of the present invention. The scope of the present invention is indicated by the claims, and further includes the equivalent meanings set forth in the claims, and all modifications within the scope of the claims. [Explanation of symbols]

[0079] 1 Constant velocity universal joint 2 Outer joint member 4 Roller Assembly 100 robots 101 hands 102 Force sensor 103 Spline Model 104 Zipper 110 Inspection equipment 110R Track groove PCD rank selection inspection section 110S Spline Fitting Inspection Unit 111 Foundation 113 Fixed Unit 114 Track groove PCD rank example W PCD rank inspection section

Claims

1. 1. A method for inspecting an outer joint member of a constant velocity universal joint, comprising: providing a force sensor at a tip end of a hand of the robot; using a robot in which one end of the force sensor is connected to the hand and the other end is connected to a spline model; and feeding back the detection force of the force sensor to operation control of the robot to inspect a spline fit, a phase matching step of rotating the spline model while placing the spline model over the end of the spline of the outer joint member held by a fixed unit provided on a base, and aligning the phase of the spline by rotating the spline model; a phase matching determination step of determining whether the phase is matched based on the detection force of the force sensor with respect to a rotational moment load; and a spline fit inspection step of inserting the spline model to inspect the insertion height of the spline model and inspect the pressing force of the spline model, characterized in that the spline fit inspection is performed.

2. An inspection device for an outer joint member of a constant velocity universal joint, comprising: a robot having a force sensor provided at a tip end of a hand of the robot, one end of the force sensor connected to the hand and the other end connected to a spline model, and a detection force of the force sensor fed back to operation control of the robot, the device performing a spline fitting inspection, a spline fitting inspection unit including the spline model, the chuck, and a fixing unit fixed on a base; the chuck and the fixing unit are configured to be able to grip the outer joint member, and the spline model of the spline fit inspection unit can be lowered onto the outer joint member gripped by the fixing unit, An inspection device for an outer joint member of a constant velocity universal joint using a force sensor and a robot, characterized in that the force sensor is capable of detecting a rotational moment load and a pressing force associated with the alignment of the phases of the spline models in the spline fit inspection portion, and performs a spline fit inspection.

3. An inspection method for an outer joint member of a constant velocity universal joint, comprising the steps of: providing a force sensor at a tip end of a hand of a robot; connecting one end of the force sensor to the hand and the other end to a chuck; feeding back a detection force of the force sensor to operation control of the robot; and performing a track groove PCD rank screening inspection, a phase alignment step of gripping the outer joint member with the chuck, and rotating the outer joint member with the open end portion thereof placed over a track groove PCD rank model provided on a base, to align the phases of the track grooves; and a phase agreement determination step of determining whether the phases are equal from the detection force of the force sensor with respect to a rotational moment load, wherein a track groove PCD rank sorting inspection is performed.

4. An inspection device for an outer joint member of a constant velocity universal joint, comprising: a robot having a force sensor provided at a tip end of a hand of the robot, one end of the force sensor connected to the hand and the other end connected to a chuck, and a detection force of the force sensor fed back to operation control of the robot, the device performing a track groove PCD rank screening inspection, the track groove PCD rank sorting and inspection unit includes a track groove PCD rank model fixed on the chuck and the base, the outer joint member held by the chuck can be lowered onto the track groove PCD rank model of the track groove PCD rank selection inspection section, An inspection device for an outer joint member of a constant velocity universal joint using a force sensor and a robot, characterized in that the force sensor is capable of detecting a rotational moment load associated with a match in phase of the track groove PCD rank model in the track groove PCD rank selection inspection section, and performs a track groove PCD rank selection inspection.

5. 4. The method for inspecting an outer joint member of a constant velocity universal joint using a force sensor and a robot according to claim 1 or 3, wherein both the spline fitting inspection and the track groove PCD rank selection inspection are performed.

6. 5. The inspection device for an outer joint member of a constant velocity universal joint using a force sensor and a robot according to claim 2 or 4, wherein both the spline fitting inspection and the track groove PCD rank selection inspection are performed.

7. The method and device for inspecting an outer joint member of a constant velocity universal joint using a force sensor and a robot according to any one of claims 3 to 6, wherein the track groove PCD rank model provided on the base is composed of a plurality of roller outer diameters of different sizes.

8. 7. The inspection method and inspection device for an outer joint member of a constant velocity universal joint using a force sensor and a robot according to claim 5 or 6, wherein the spline model is provided at the center of a hand of the robot, the chuck is provided around the spline model, and when the outer joint member is rotated while being placed over an end of the track groove PCD rank model to align the phases of the track grooves, slippage between the outer joint member and the chuck due to a rotational moment is prevented by a fitted state resulting from matching phases of the splines of the outer joint member and the spline model.

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