CN116214116A - Three-pin-joint installation station for CV shaft assembly - Google Patents

Abstract

The application discloses a three pin section installation station for CV axle assembly, include spline mechanism and three pin section pressure equipment mechanism, be used for the spline and the pre-compaction of three pin section to spline mechanism, three pin section pressure equipment mechanism is used for compressing tightly between real axle and the three pin section, in this application embodiment, adopt foretell three pin section installation station for CV axle assembly, through the pre-compaction of three pin section and real axle and to the spline process, make the cooperation precision between three pin section and the real axle higher, thereby promote the whole production quality of CV axle, when the centre gripping stopper centre gripping three pin section, can drive three pin section to being close to real axle one side and remove, thereby realize three pin section and the pre-compaction of real axle, the centre gripping stopper has certain floating space in three finger clamping jaw, thereby make three pin section and real axle have better position tolerance to the spline in-process, improve the installation success rate of three pin section and real axle.

Description

Three-pin-joint installation station for CV shaft assembly

Technical Field

The invention relates to the technical field of automobile part manufacturing, in particular to a three-pin-joint mounting station for CV shaft assembly.

Background

The automobile CV shaft is also called a half shaft and a driving axle, is a solid shaft for transmitting torque between a differential mechanism and a driving wheel, the inner end of the automobile CV shaft is generally connected with a half shaft gear through a spline, the outer end of the automobile CV shaft is connected with a hub, and the common CV shaft of a modern automobile is provided with a full floating type and a half floating type according to different supporting forms, wherein the full floating type CV shaft only transmits torque and does not bear any counter force and bending moment, so the automobile CV shaft is widely applied to various automobiles.

Based on the market demand of automobile production, the CV shaft is taken as an important part of the automobile, the production and manufacturing speed of the CV shaft has great influence on the overall production efficiency of the automobile, the existing CV shaft is generally assembled manually, the production efficiency is low, the production quality is difficult to ensure, the data in production cannot be traced in real time, meanwhile, due to the limitation of the CV shaft in the installation process, the full-automatic machine assembly is adopted, each assembly procedure is required to be coordinated and controlled, and the beat balance difficulty is higher.

For the three-pin joint and real shaft assembly procedure of the CV shaft, on one hand, the manual assembly is difficult to ensure the matching precision and strength between the three-pin joint and the real shaft, and on the other hand, when the machine assembly is adopted, the spline is required to be carried out between the three-pin joint and the real shaft assembly procedure, so that the general assembly structure is difficult to be applied.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the three-pin-joint installation station for CV shaft assembly, which has high automation degree and high production efficiency.

In order to achieve the above object, the present invention is achieved by the following technical scheme.

The application provides a three-pin-joint mounting station for CV shaft assembly, which comprises a spline mechanism and a three-pin-joint press-fitting mechanism, wherein the spline mechanism is used for spline alignment and pre-pressing of a real shaft and a three-pin joint, and the three-pin-joint press-fitting mechanism is used for pressing between the real shaft and the three-pin joint;

the spline aligning mechanism comprises a pre-pressing clamping jaw unit used for clamping the three pin joints and capable of applying pre-pressing to the three pin joints, and an aligning clamping jaw unit used for clamping the real shaft and capable of driving the real shaft to rotate so as to realize spline action.

Further defined, the three-pin joint mounting station for CV-shaft assembly described above, wherein the pre-compression jaw unit includes:

the first mounting plate is fixedly arranged on a mounting frame;

the cylinder mounting frame is fixedly arranged on the first mounting plate;

the first telescopic cylinder is fixedly arranged on the cylinder mounting frame;

the three-finger clamping jaw is fixedly arranged on the telescopic end of the first telescopic cylinder;

The clamping limiting block is arranged in the three-finger clamping jaw and used for clamping and limiting the three pin joints;

the clamping limiting block is provided with a floating gap in the three-finger clamping jaw.

Further defined, the three-pin joint mounting station for CV shaft assembly described above, wherein the pre-compression jaw unit further includes a displacement sensor fixedly disposed on the cylinder mount and configured to detect a telescopic stroke of the telescopic first telescopic cylinder.

Further defined, the three-pin joint mounting station for CV-axis assembly described above, wherein the alignment jaw unit includes:

the first fixing bracket is fixedly arranged on the mounting frame;

the central shaft is rotatably arranged on the first fixed bracket and is coaxial or parallel to the telescopic end of the first telescopic cylinder;

the clamping jaw driving assembly is fixedly arranged on the central shaft and used for fixedly clamping the real shaft;

and the alignment rotating assembly is used for driving the clamping jaw driving assembly and the real shaft to rotate.

Further defined, the three-pin joint mounting station for CV shaft assembly described above, wherein the jaw drive assembly includes:

a joint plate fixedly arranged on the central shaft;

the second telescopic cylinder is fixedly arranged on the connecting plate;

The transmission rack is fixedly arranged at the telescopic end of the second telescopic cylinder;

the track disc is rotationally arranged on the central shaft;

the transmission gear is fixedly arranged on the track disc and meshed with the transmission rack;

the guide arc grooves are annularly arranged on the track disc in an array mode relative to the central shaft;

the limiting disc is fixedly arranged on the central shaft;

the clamping jaw blocks are arranged in an annular array with respect to the central shaft and embedded on the limiting disc;

the sliding pin is fixedly arranged on the clamping jaw block and can slide in the guide arc groove;

the centering thimble is fixedly arranged at one side end of the central shaft relative to the clamping jaw block;

when the track disc rotates relative to the limit disc, the clamping jaw blocks can move along the radial direction of the limit disc.

Further defined, the three-pin joint mounting station for CV shaft assembly described above, wherein the alignment rotating assembly includes:

the third telescopic cylinder is hinged to the first fixed support;

the pull rod is fixedly arranged at the telescopic end of the third telescopic cylinder;

the axle-holding block is hinged to one side end, away from the third telescopic cylinder, of the pull rod;

Wherein, the flexible direction of the third flexible cylinder is not beyond the axis of center pin.

Further defined, the three-pin joint mounting station for CV-shaft assembly described above, wherein the three-pin joint press-fitting mechanism includes a floating press unit for applying a press force to the three-pin joint, and a supporting jaw unit for clamping the real shaft.

Further defined, the three-pin joint mounting station for CV shaft assembly described above, wherein the floating hold down unit includes:

the second mounting plate is fixedly arranged on a mounting frame;

the servo press is fixedly arranged on the second mounting plate;

the floating joint is fixedly arranged at the telescopic end of the servo press;

the floating ball is fixedly arranged in the floating joint;

the joint head is sleeved on the floating ball and can roll relative to the floating ball;

the transition shaft is fixedly arranged at one side end of the joint head, which is far away from the servo press;

the step seat is connected with one side end of the transition shaft, which is far away from the joint head;

the three-pin joint pressure head is fixedly arranged at one side end of the step seat far away from the joint head;

the real-shaft thimble is elastically telescopic and arranged on the end face of one side, far away from the joint head, of the step seat.

Further defined, the three-pin joint mounting station for CV shaft assembly described above, wherein the floating hold down unit further comprises:

the second fixing bracket is fixedly arranged on the mounting frame;

and the pulling and pressing sensor is fixedly arranged on the second fixing support, and the two induction ends are respectively connected with the transition shaft and the step seat.

The invention has at least the following beneficial effects:

1. the three-pin joint and the real shaft are pre-pressed and subjected to spline working procedures, so that the matching precision between the three-pin joint and the real shaft is higher, and the overall production quality of the CV shaft is improved;

2. when the clamping limiting block clamps the three-pin joint, the first telescopic cylinder can drive the three-pin joint to move towards one side close to the real shaft, so that the pre-pressing of the three-pin joint and the real shaft is realized, the clamping limiting block has a certain floating space in the three-finger clamping jaw, and therefore the three-pin joint and the real shaft have better position tolerance in the spline process, and the mounting success rate of the three-pin joint and the real shaft is improved;

3. the relative rotation between the track disc and the limit disc is realized through the cooperation of the transmission rack and the transmission gear, and the three clamping jaw blocks are folded towards one side close to the central shaft under the action of the track radian of the guide arc groove, so that the stable clamping of the real shaft is realized;

4. In the compression process of the three-pin joint and the real shaft, the deviation of the sensing ends at two sides can be recorded through the tension and compression sensor, so that the assembly parameters of the three-pin joint and the real shaft are recorded, and the follow-up error analysis and the problem tracing are facilitated.

Drawings

FIG. 1 is a schematic diagram of a specific structure of an automatic CV shaft assembly line according to an embodiment of the present application;

FIG. 2 is a simplified schematic diagram of an automated CV shaft assembly line according to an embodiment of the present application;

FIG. 3 is a schematic view of the CV shaft according to an embodiment of the present application;

FIG. 4 is an enlarged schematic view of the structure of the "wire 490" part of the CV shaft according to the embodiment of the present application;

FIG. 5 is an enlarged schematic view of the structure of the "snap spring 480" part of the CV shaft according to the embodiment of the present application;

FIG. 6 is a schematic structural diagram of a "mobile end sheath storage device" in a small clip feeding station OP10-1 "according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a "mobile end sheath storage device" in a small clip feeding station OP10-1 "according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of a "moving end sheath reclaimer" in a "moving end sheath and small clip feeding station OP10-1" according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a "mobile end sheath extracting device" in a small clip feeding station OP10-1 "according to an embodiment of the present application;

FIG. 10 is a schematic view of the structure of the "to spline mechanism" portion of the "three-pin joint mounting station OP20" of the embodiment of this application;

FIG. 11 is a schematic view of the construction of the "pre-compression jaw unit" portion of the "to spline mechanism" embodiment of the present application;

FIG. 12 is a schematic view of the structure of the "alignment jaw unit" portion of the "alignment jaw mechanism" according to the embodiment of the present application;

FIG. 13 is a schematic view of the structural cooperation of the "jaw block 213" and the "guide arc slot 220" in the "alignment jaw" according to the embodiment of the present application;

FIG. 14 is a schematic view of the structure of the "rotational alignment mechanism" portion of the "alignment jaw" of the present embodiment;

fig. 15 is a schematic structural view of a portion of the "three-pin joint press-fitting mechanism" in the "three-pin joint mounting station OP20" of the embodiment of the present application;

FIG. 16 is a schematic view of the structure of the "floating joint 228" part of the "three pin joint press-fit mechanism" according to the embodiment of the present application;

FIG. 17 is a schematic view of the structure of the "floating joint 228" part of the "three-pin joint press-fit mechanism" according to the embodiment of the present application;

FIG. 18 is a schematic view showing the structure of the "solid axle center 239" part of the "three-pin joint press-fitting mechanism" according to the embodiment of the present application;

fig. 19 is a schematic structural diagram of a "clamp spring press-fitting station OP30" in the embodiment of the present application;

Fig. 20 is a schematic structural view of a portion of the "press-fit detection mechanism 320" in the "clamp spring press-fit station OP30" according to the embodiment of the present application;

fig. 21 is a structural sectional view of a portion of the "press-fit detection mechanism 320" in the "clamp spring press-fit station OP30" according to the embodiment of the present application;

fig. 22 is a schematic structural view of a portion of a "snap spring preassembling mechanism 330" in a "snap spring press-fitting station OP30" according to an embodiment of the present application;

fig. 23 is a partially enlarged schematic illustration of a portion of the "snap spring preassembling mechanism 330" in the "snap spring press-fitting station OP30" according to the embodiment of the present application.

Reference numerals

OP10, small clamp tightening station of movable end; OP10-1, a movable end sheath and a small clamp feeding station; OP10-2, three-pin section feeding work station; 111. a sheath turnplate; 112. a guide rod; 113. an indexing motor; 114. a cushion block; 115. an induction block; 116. a transmission table; 121. a fixed bottom plate; 122. a standing main body; 123. a transposition motor; 124. a screw; 125. an electric slide block; 126. positioning the jaw assembly; 127. a transposition jaw assembly; 128. a first sliding table; 129. a second sliding table; 130. a transverse guide rail; 131. a longitudinal guide rail; OP20, three pin joint installation station; 201. a first mounting plate; 202. a first telescopic cylinder; 203. a cylinder mounting rack; 204. a pressure reducing valve; 205. a connecting flange; 206. three-finger clamping jaw; 207. clamping a limiting block; 208. a first fixing bracket; 209. the second telescopic cylinder; 210. a splice plate; 211. a guide block; 212. a limiting disc; 213. a jaw block; 214. a displacement sensor; 215. centering thimble; 216. a track pad; 217. a transmission gear; 218. a drive rack; 219. a slide pin; 220. a guide arc groove; 221. a central shaft; 222. the axle-holding block; 223. a third telescopic cylinder; 224. a hinge base; 225. a pull rod; 226. a servo press; 227. a second mounting plate; 228. a floating joint; 229. a transition shaft; 230. a second fixing bracket; 231. a pull-press sensor; 232. a connector; 233. a joint head; 234. a connecting pin; 235. a floating ball; 236. a step seat; 237. ball lock pin; 238. a three pin joint ram; 239. a real-axis thimble; OP30, clamp spring press-fitting station; OP30-1, clamping spring feeding station; 310. welding the frame; 320. a press-fit detection mechanism; 321. a main body bracket; 322. lifting the cylinder; 323. detecting a cylinder; 324. pressing and installing a bracket; 325. lifting the guide rod; 326. pressing the sleeve; 327. a detection sleeve; 328. a sleeve head; 329. a cylinder is pressed and assembled; 330. a clamp spring preassembling mechanism; 331. a connection frame; 332. a sliding table; 333. a follow-up bracket; 334. a pushing cylinder; 335. feeding tools; 336. a fixed rod; 337. a material supporting cylinder; 338. a material supporting claw; 339. a blanking plate; 340. a transition sliding table; 341. a limit claw assembly; 350. a clamping and positioning mechanism; OP40, fixed end sheath mounting station; OP40-1, a fixed end sheath and a small clamp feeding station; OP50, wire clamping assembly station; OP60, fixed joint press-fitting work station; OP60-1, fixed-joint feeding work station; OP70, a first fixed end clamp closing-up station; OP70-1, a first fixed end clamp feeding work station; OP80, second fixed end clamp closing-in station; OP80-1, a second fixed end clamp feeding station; OP90, shaft fork press fitting and large clamp closing-up station at the movable end; OP90-1, a shaft fork feeding station; OP100, real-shaft feeding unit; OP100-1, a manual feeding table; OP110, visual end inspection station; OP200, rotating and clamping the swing arm; OP310, robot number one; OP320, robot number two; OP330, robot III; 410. three pin joints; 420. a real shaft; 431. a small clamp at the fixed end; 432. a small clamp at the movable end; 441. a fixed end sheath; 442. a movable end sheath; 451. a fixed end large clamp; 452. a movable end big clamp; 460. a fixed joint; 470. a shaft fork; 480. clamping springs; 490. clamping wires; OP500 and electric cabinet platform; OP600, unloading weighing bench.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The three-pin joint mounting station for CV shaft assembly provided in the embodiment of the application is described in detail below by means of specific embodiments and application scenarios thereof with reference to the accompanying drawings.

The embodiment of the application provides an automatic assembly line for a CV shaft assembly, as shown in fig. 3 to 5, an automobile CV shaft comprises a real shaft 420 and fixing joints 460 and shaft forks 470 which are respectively arranged at two ends of the real shaft 420, a fixed end sheath 441 and a movable end sheath 442 are further sleeved on the real shaft 420, wherein the fixed end sheath 441 and the real shaft 420 are tightly hooped through a fixed end small clamp 431 and tightly hooped through a fixed end large clamp 451 between the fixed joint 460, the movable end sheath 442 and the real shaft 420 are tightly hooped through the movable end small clamp 432 and tightly hooped through the movable end large clamp 452 between the movable end small clamp 432 and the shaft forks 470, three pin joints 410 are arranged at one ends of the real shaft 420, clamp springs 480 for limiting the three pin joints 410 are sleeved on one ends of the real shaft 420, and clamping wires 490 for limiting the fixed joints 460 are sleeved on one ends of the real shaft 420.

In summary, since the automobile CV shafts are mutually matched in terms of their constituent structures, the constituent structures are installed according to a specific process sequence.

As shown in fig. 1 and 2, the automatic assembly line for a CV shaft assembly provided by the application sequentially includes:

the manual feeding table OP100-1 is used for manually hanging the real shaft 420 on the real shaft feeding unit OP 100;

The real shaft feeding unit OP100 is used for storing the real shaft 420 and periodically and automatically feeding;

the mobile end sheath and small clamp feeding station OP10-1 is used for storing and periodically and automatically feeding the mobile end sheath 442 and the mobile end small clamp 432;

the three-pin section feeding station OP10-2 is used for storing and periodically and automatically feeding the three-pin section 410 in the shaft fork 470;

a small movable-end clamp tightening station OP10 for installing the movable-end sheath 442 on the real shaft 420 and automatically tightening the small movable-end clamp 432 on the real shaft 420;

a three pin joint mounting station OP20 for press fitting the three pin joint 410 on the real shaft 420;

the clamp spring feeding station OP30-1 is used for storing and periodically and automatically feeding the clamp spring 480;

the clamp spring press-fitting station OP30 is used for press-fitting the clamp spring 480 on the real shaft 420;

the fixed end sheath and small clamp feeding station OP40-1 is used for storing and periodically and automatically feeding the fixed end sheath 441 and the fixed end small clamp 431;

a fixed end sheath mounting station OP40 for automatic press fitting of the fixed end sheath 441 onto the real shaft 420;

a wire clamping assembly station OP50 for automatically mounting the wire clamping 490 on the real shaft 420;

the fixed joint feeding station OP60-1 is used for storing and periodically and automatically feeding the fixed joint 460;

A fixed joint press station OP60 for automatic press mounting of the fixed joint 460 on the real shaft 420;

a first fixed end clamp feeding station OP70-1, which aims at automatic feeding of a fixed end large clamp 451 on a conventional fixed end sheath 441;

the first fixed end clamp closing-in station OP70 is used for injecting grease into the fixed end large clamp 451 shrinkage opening/fixed end sheath 441 on the conventional fixed end sheath 441;

a second fixed end clamp feeding work station OP80-1, which aims at automatic feeding of a fixed end large clamp 451 on a T-shaped fixed end sheath 441;

the second fixed end clamp closing-in station OP80 is used for automatically clamping the fixed end small clamp 431 and the fixed end large clamp 451 on the T-shaped fixed end sheath 441;

the shaft fork feeding station OP90-1 is used for storing and periodically and automatically feeding the shaft fork 470;

the shaft fork press fitting and movable end large clamp closing-up station OP90 is used for grease injection of the shaft fork 470 and necking of the riveting/movable end large clamp 452 on the real shaft 420;

the visual final inspection station OP110 is used for visual inspection of automobile CV shaft assembly finished products;

the blanking weighing table OP600 is used for detecting the weight of an automobile CV shaft assembly finished product.

The clamping swing arm OP200 is provided with a plurality of clamping swing arms OP200, and the clamping swing arms OP60 and the first fixed end clamping and binding station OP70, the first fixed end clamping and binding station OP70 and the second fixed end clamping and binding station OP80, and the second fixed end clamping and binding station OP80 and the shaft fork and the large moving end clamping and binding station OP90 are respectively positioned between the first fixed end clamping and binding station OP70 and the second fixed end clamping and binding station OP 80.

It will be appreciated that the clamp swing arm OP200 is adapted to engage a station transfer between two corresponding stations, and is rotatable, liftable and has a telescopic clamping function (clamping a workpiece in a retracted state on a first station, then rotating, extending and placing the workpiece on a second station).

It can be appreciated that in the process of detecting the weight of the finished automobile CV shaft assembly by the unloading weighing platform OP600, on one hand, whether the automobile CV shaft has the condition of part neglected loading in the assembly process can be judged through the weight, and on the other hand, whether the grease injection is qualified can be detected, so that the quality of the finished automobile CV shaft is further optimized.

In this embodiment of the application, adopt foretell CV axle assembly automatic assembly line, adopt above-mentioned car CV axle assembly sequence, both avoided the installation interference between each part, make each process work beat tend to be close simultaneously, thereby realize the continuity and the smoothness of car CV axle assembly process, improve assembly efficiency greatly, can carry out data to each process of car CV axle through the control data of each workstation in the record automatic assembly process and trace back, thereby can the quick location problem when the problem appears, in time make adjustment scheme, reduce the output probability of defective goods.

In a preferred embodiment, as shown in fig. 6 and 7, the mobile end sheath and small clamp feeding station OP10-1 includes a mobile end sheath storage device and a mobile end sheath material taking device, where the mobile end sheath storage device includes a cushion block 114 fixedly disposed on a mounting frame, an indexing motor 113 and a transmission table 116 are fixedly mounted on the cushion block 114, and a power output end of the transmission table 116 is rotatably provided with a sheath turntable 111, and a power input end is connected with a power output shaft of the indexing motor 113.

The end surface of one side of the sheath turntable 111 far away from the cushion block 114 is annularly arrayed and fixedly provided with a plurality of guide rods 112 about the rotation axis of the sheath turntable, and the guide rods 112 can be sleeved with a movable end sheath 442.

The sheath turntable 111 is further fixedly provided with a sensing block 115, and the sensing block 115 is used for sensing a rotation angle of the sheath turntable 111, namely, the rotation angle of the sheath turntable 111 in a rotation period is controlled to be just equal to an annular array angle of the guide rod 112.

When the movable end sheath 442 is stacked on the guide rod 112, the movable end sheath extracting device will grasp the movable end sheath 442 on the guide rod 112 at the predetermined position from top to bottom, and after the movable end sheath 442 on the guide rod 112 is grasped, the indexing motor 113 rotates and drives the sheath turntable 111 to rotate for a working period through the transmission table 116, i.e. the guide rod 112 at the predetermined position is replaced so that the movable end sheath extracting device continuously grips the movable end sheath 442.

It can be understood that the mobile end sheath storage device further includes a first sensing unit for detecting the number and the pose of the mobile end sheaths 442 on the guide rod 112, and when the first sensing unit detects that the grabbing of the mobile end sheaths 442 on the guide rod 112 at the predetermined position is completed, the indexing motor 113 can be controlled to rotate for a working period, so that the guide rod 112 at the predetermined position is replaced.

Meanwhile, when the first sensing unit detects that the movable end sheath 442 on the guide rod 112 is insufficient or the pose is abnormal, a reminding signal can be sent to the control end, so that the feeding of workers and the monitoring of the working state are facilitated.

In a preferred embodiment, as shown in fig. 8 and 9, the mobile end sheath extracting device includes a fixed bottom plate 121 fixedly disposed on the ground, a standing main body 122 is fixedly disposed on an end surface of one side of the fixed bottom plate 121 far from the ground, two transposition motors 123 are horizontally arrayed and fixedly disposed on the standing main body 122, a power end of each transposition motor 123 is connected with a screw rod 124 rotationally connected with the fixed bottom plate 121, a first sliding table 128 is disposed on one screw rod 124 in a threaded connection manner, and a second sliding table 129 disposed on one side of the first sliding table 128 far from the fixed bottom plate 121 is disposed on the other screw rod 124 in a threaded connection manner.

The vertical station main body 122 is further horizontally arrayed and fixedly provided with two longitudinal guide rails 131 parallel to the screw rods 124, the first sliding table 128 and the second sliding table 129 are respectively connected with the two longitudinal guide rails 131 in a sliding mode, the first sliding table 128 is far away from the side end face of the vertical station main body 122 and is fixedly provided with a transposition clamping jaw assembly 127, the side end face of the second sliding table 129 is far away from the vertical station main body 122 and is fixedly provided with a transverse guide rail 130 with the length direction perpendicular to the axial direction of the screw rods 124, the transverse guide rail 130 is provided with an electric sliding block 125 in a sliding mode, and the side end face of the electric sliding block 125 far away from the vertical station main body 122 is fixedly provided with a positioning clamping jaw assembly 126.

When the movable end sheath material taking device grabs the movable end sheath 442 on the movable end sheath material storing device, the movable end sheath 442 at the bottommost part of the guide rod 112 is grabbed by the transposition clamping jaw assembly 127, at the moment, the corresponding transposition motor 123 drives the screw rod 124 to rotate so as to drive the first sliding table 128 to move a unit distance away from the ground, so that the topmost movable end sheath 442 of the guide rod 112 is moved to a preset grabbing position, after the positioning clamping jaw assembly 126 grabs the movable end sheath 442 at the preset grabbing position, the corresponding transposition motor 123 drives the screw rod 124 to rotate so as to drive the second sliding table 129 to move away from the ground to reach a transition station, and then the electric sliding block 125 moves so as to drive the movable end sheath 442 on the positioning clamping jaw assembly 126 to move to a next station, namely, the movable end sheath 442 moves to a corresponding station of the small movable end clamp tightening OP10 so as to realize the installation of the movable end sheath 442 on the real shaft 420.

During the resetting process of the positioning jaw assembly 126, the shifting jaw assembly 127 moves again by a unit distance to the side far away from the ground, so that the topmost movable end sheath 442 on the guide rod 112 is always located at the predetermined gripping position, and of course, the unit distance of movement of the shifting jaw assembly 127 depends on the stacking distance of the movable end sheath 442 itself.

It can be understood that the mobile end sheath extracting device further includes a second sensing unit for positioning the mobile end sheath 442, where the position and state of the mobile end sheath 442 at the bottom of the guide rod 112 are determined by the transposition clamping jaw assembly 127 through the second sensing unit, and in order to avoid an error of stacking distance of the mobile end sheath 442 on the guide rod 112, the second sensing unit can also be configured to sense a pose of the mobile end sheath 442 at a predetermined clamping position, so as to ensure the clamping accuracy of the positioning clamping jaw assembly 126 to the mobile end sheath 442.

In this embodiment of the application, adopt foretell CV axle assembly automatic assembly line, realize the automatic continuous material loading of removing end sheath 442 through removing end sheath storage device and removing end sheath extracting device cooperation, shortened the beat when using manpower sparingly to effectively promote the assembly efficiency of CV axle.

In a preferred embodiment, in the three-pin joint feeding station OP10-2, forward detection is performed when the three-pin joint 410 is fed (one surface of the three-pin joint 410 is provided with a chamfer, the other surface of the three-pin joint is not provided with a chamfer, and the front and the back of the three-pin joint 410 are required to be detected in order to avoid manual feeding errors), and the specific detection method is to utilize a conical pressing head to press down, monitor the depth of pressing into the three-pin joint 410 through a displacement ruler, and because the pressing head is a conical surface, if the pressing surface is the chamfer (the front surface of the three-pin joint 410) presses deeper, otherwise, press shallower, and reject the three-pin joint 410 if the reverse surface of the three-pin joint 410 is detected to face upwards, thereby ensuring the accuracy of the feeding posture of the three-pin joint 410.

Meanwhile, in the three-pin joint feeding station OP10-2, an internal supporting type clamping mode is adopted when the three-pin joint 410 is fed, the change of the inner diameter (internal spline) is displayed through a displacement ruler, and if the inner diameter of the three-pin joint 410 exceeds an error range, rejection is performed, so that the inner diameter error-proofing detection of the three-pin joint 410 is realized.

In a preferred embodiment, in the three-pin joint installation station OP20, as shown in fig. 10 to 18, the press-fitting of the three-pin joint 410 is divided into a pre-pressing and a pressing of the spline, that is, the spline mechanism and the three-pin joint press-fitting mechanism, and the working time can be increased by the splitting of the working procedure, so that the assembly efficiency is improved, and meanwhile, the assembly accuracy is ensured.

In a preferred embodiment, in the three-pin joint mounting station OP20, as shown in fig. 10 to 18, the spline mechanism includes a pre-pressing jaw unit and a positioning jaw unit, where the pre-pressing jaw unit is used to clamp the three-pin joint 410, the positioning jaw unit is used to clamp the real shaft 420, the pre-pressing of the three-pin joint 410 on the real shaft 420 can be achieved through the relative movement of the pre-pressing jaw unit and the positioning jaw unit, and meanwhile, the positioning jaw unit can drive the real shaft 420 to rotate, so that the spline alignment action of the real shaft 420 and the three-pin joint 410 is achieved.

As shown in fig. 10 and 11, the pre-pressing clamping jaw unit comprises a first mounting plate 201 mounted on the integral frame of the three-pin joint mounting station OP20, a cylinder mounting frame 203 is fixedly arranged on the first mounting plate 201, a first telescopic cylinder 202 is fixedly arranged on the cylinder mounting frame 203, a connecting flange 205 is fixedly arranged on the telescopic end of the first telescopic cylinder 202, a three-finger clamping jaw 206 is arranged on the end face, far away from the first telescopic cylinder 202, of the connecting flange 205, and a clamping limiting block 207 for limiting the clamping of the three-pin joint 410 is clamped in the three-finger clamping jaw 206.

The pre-pressing clamping jaw unit further comprises a pressure reducing valve 204 which is fixedly arranged on the first mounting plate 201 and is coupled with the first telescopic cylinder 202, the telescopic operation of the first telescopic cylinder 202 can be achieved through controlling the pressure reducing valve 204, and a displacement sensor 214 for detecting the telescopic stroke of the first telescopic cylinder 202 is fixedly arranged on the cylinder mounting frame 203.

When the clamping limiting block 207 clamps the three-pin joint 410, the first telescopic cylinder 202 can drive the three-pin joint 410 to move towards the side close to the real shaft 420, so that the pre-pressing of the three-pin joint 410 and the real shaft 420 is realized, and it can be understood that the clamping limiting block 207 has a certain floating space in the three-finger clamping jaw 206, so that the three-pin joint 410 and the real shaft 420 have better position tolerance in the spline process, and the mounting success rate of the three-pin joint 410 and the real shaft 420 is improved.

In a preferred embodiment, as shown in fig. 12 to 14, the alignment jaw mechanism includes a first fixing bracket 208 mounted on the integral frame of the three-pin joint mounting station OP20, a central shaft 221 parallel or coaxial to the extending direction of the first extending cylinder 202 is rotatably provided on the first fixing bracket 208, and a jaw driving assembly for clamping the real shaft 420 and an alignment rotation assembly for driving the jaw driving assembly and the real shaft 420 to rotate are provided on the central shaft 221.

The clamping jaw driving assembly comprises a connecting plate 210 fixedly arranged on a central shaft 221, a second telescopic cylinder 209 and a guide block 211 are fixedly arranged on the connecting plate 210, a transmission rack 218 which is in sliding connection with the guide block 211 is fixedly arranged on the telescopic end of the second telescopic cylinder 209, a track disc 216 is rotatably arranged on the central shaft 221, a transmission gear 217 meshed with the transmission rack 218 is fixedly arranged on the end face of one side, close to the connecting plate 210, of the track disc 216, and three guide arc grooves 220 are annularly arranged on the end face of one side, far away from the connecting plate 210, of the transmission gear 217 and are annularly arranged on the central shaft 221.

The jaw driving assembly further comprises a limiting disc 212 fixedly arranged on the central shaft 221 and located on one side of the track disc 216 away from the joint plate 210, three jaw blocks 213 are annularly arranged on the limiting disc 212 relative to the central shaft 221, the jaw blocks 213 are embedded in the limiting disc 212 and can radially move relative to the limiting disc 212, sliding pins 219 are fixedly arranged on the end face, close to the joint plate 210, of each jaw block 213, and the sliding pins 219 on the three jaw blocks 213 respectively slide in three guide arc grooves 220 on the track disc 216.

The center shaft 221 is fixedly provided with a centering thimble 215 on one side end of the clamping jaw block 213, when the real shaft 420 is placed between the three clamping jaw blocks 213 and the centering thimble 215 is abutted against the center point of the end part of the real shaft 420, the second telescopic cylinder 209 can drive the transmission rack 218 to move relative to the guide block 211, the transmission rack 218 drives the transmission gear 217 and the track disc 216 to rotate when moving, when the track disc 216 rotates, the sliding pin 219 is acted on the position in the guide arc groove 220 by the position change of the guide arc groove 220 to change, and the three clamping jaw blocks 213 are folded towards the side close to the center shaft 221 to realize stable clamping of the real shaft 420.

In this embodiment of the present application, adopt foretell three pin section installation station OP20, realize the precompaction of real axle 420 and three pin section 410 through precompaction clamping jaw unit and counterpoint clamping jaw unit cooperation, wherein, precompaction clamping jaw unit has floating mechanism in order to improve three pin section 410 and real axle 420 complex tolerance, counterpoint clamping jaw unit adopts gear drive and track groove direction's mode to realize the synchronous centre gripping of three clamping jaw piece 213, has effectively guaranteed the axiality after the centre gripping of real axle 420, and then guarantees the connection precision of real axle 420 and three pin section 410.

In a preferred embodiment, as shown in fig. 14, the alignment rotating assembly includes a hinge seat 224 fixedly disposed on the first fixing support 208 and located on an end surface of the first fixing support 208 on a side far away from the clamping jaw block 213, a third telescopic cylinder 223 is hinged on the hinge seat 224, a pull rod 225 is fixedly disposed on a telescopic end of the third telescopic cylinder 223, a shaft holding block 222 is hinged on a side end of the pull rod 225 far away from the third telescopic cylinder 223, and the shaft holding block 222 is fixedly sleeved on a corresponding end of the central shaft 221, and it can be understood that a telescopic direction of the third telescopic cylinder 223 is not equal to the central shaft 221.

In this embodiment, with the three-pin joint installation station OP20, when the third telescopic cylinder 223 stretches and stretches to drive the pull rod 225 to move, the pull rod 225 drives the axle-holding block 222 and the central shaft 221 to rotate due to the fact that the telescopic direction of the third telescopic cylinder 223 is not equal to the axis of the central shaft 221, so that the limit disc 212, the clamping jaw block 213 and the real shaft 420 are driven to rotate, and spline motion with the three-pin joint 410 can be achieved along with rotation adjustment of the real shaft 420.

It can be understood that when the pre-pressing jaw unit and the alignment jaw unit clamp the three-pin joint 410 and the real shaft 420 respectively, the telescopic direction of the first telescopic cylinder 202 is coaxial with the central shaft 221, and before the three-pin joint 410 and the real shaft 420 clamp the spline and the pre-pressing, the pre-pressing jaw unit and the alignment jaw unit need to perform the clamping actions on the three-pin joint 410 and the real shaft 420 respectively, so that the pre-pressing jaw unit and the alignment jaw unit are not arranged at the above-mentioned stations before the spline and the pre-pressing, in short, the pre-pressing jaw unit or the alignment jaw unit is provided with a shifting mechanism in the horizontal direction as shown in the drawing, so that after the three-pin joint 410 or the real shaft 420 is clamped at other stations, the pre-pressing jaw unit is transferred to the above-mentioned stations to realize the spline and the pre-pressing.

It can be appreciated that in the above-mentioned scheme, the pre-pressing jaw unit is used for providing the displacement in the pre-pressing direction, and in the setting mode, the pre-pressing displacement component can also be arranged on the alignment jaw unit, that is, the pre-pressing jaw unit is only used for floating and clamping the three-pin joint 410, and the clamping, the spline and the pre-pressing direction displacement of the real shaft 420 are realized through the alignment jaw unit, so long as the corresponding execution actions of the three-pin joint 410 and the real shaft 420 can be realized, and no specific limitation is made herein.

In a preferred embodiment, in the three-pin joint mounting station OP20, as shown in fig. 14 to 18, the three-pin joint press mechanism includes a floating press unit for applying a pressing direction force to the three-pin joint 410 and a supporting jaw unit for clamping the real shaft 420 of the pre-pressed three-pin joint 410.

The floating compaction unit comprises a second mounting plate 227 arranged on the integral frame of the three-pin joint mounting station OP20, a servo press 226 is fixedly arranged on the second mounting plate 227, a connector 232 is fixedly arranged on the telescopic end of the servo press 226, a floating joint 228 is fixedly arranged on the end face of one side of the connector 232, which is close to the supporting clamping jaw unit, a connecting pin 234 is arranged on the floating joint 228 in a penetrating manner, a floating ball 235 fixedly connected with the connecting pin 234 is arranged in the floating joint 228, and a joint 233 is sleeved on the floating ball 235, and it is understood that the floating ball 235 can roll relatively to the joint 233 in the joint 233.

The joint head 233 is kept away from the fixed transition axle 229 that is equipped with of one side end of floating joint 228, the floating compaction unit still includes the second fixed bolster 230 of installing on three round pin festival installation station OP20 whole frame, install on the second fixed bolster 230 and draw the pressure sensor 231, transition axle 229 and draw the pressure sensor 231 to correspond one side response end and be connected, draw the pressure sensor 231 to keep away from transition axle 229 one side response end on connect and be equipped with step seat 236, be equipped with three round pin festival pressure head 238 through having bulb locking pin 237 to be fixed on the step seat 236, step seat 236 is kept away from on the terminal surface of transition axle 229 one side elasticity flexible and is equipped with real axle thimble 239.

When the servo press 226 is started and drives the real shaft thimble 239 to abut against the center of the end face of the real shaft 420, along with the continuous extension of the servo press 226, the three-pin joint pressing head 238 abuts against the three-pin joint 410 and presses the three-pin joint 420, and in the pressing process of the three-pin joint 410 and the real shaft 420, as the joint 233 can roll relative to the floating ball 235, the structures corresponding to the sensing ends at two sides of the pulling and pressing sensor 231 may not be coaxial in the pressing process of the three-pin joint 410 and the real shaft 420, and at the moment, the pulling and pressing sensor 231 can record the deviation of the sensing ends at two sides, so that the assembly parameters of the three-pin joint 410 and the real shaft 420 are recorded, and the subsequent error analysis and the problem tracing are facilitated.

In a preferred embodiment, in the three-pin joint mounting station OP20, as shown in fig. 14, the structure of the supporting jaw unit is similar to that of the aligning jaw unit, and the two are different in that the supporting jaw unit does not need to be provided with an aligning rotating component, that is, the supporting jaw unit only needs to use a jaw driving component to clamp the real shaft 420.

It can be appreciated that, because the three-pin joint pressing mechanism and the spline mechanism are arranged on the same station, under the condition of beat permission, the three-pin joint pressing mechanism and the spline mechanism can be arranged as clamping jaw units of the common clamping real shaft 420, the quick-change structure of the floating pressing unit and the pre-pressing clamping jaw unit needs to be added at the moment, when the pre-pressing clamping jaw unit completes the spline and pre-pressing work of the three-pin joint 410 and the real shaft 420, the direct quick-change is switched to the floating pressing unit to realize the further pressing of the three-pin joint 410 and the real shaft 420, and the working efficiency of the single station of the three-pin joint installation station OP20 can be improved through the arrangement mode, but if the beats are not coordinated, the problem that the single-channel installation process occupies too long time possibly occurs, which is unfavorable for the integral assembly efficiency of the automobile CV shaft.

In a preferred embodiment, in the clamp spring press-fitting station OP30, the clamp spring 480 is a circular section sheet, and is press-fitted into the clamp spring groove of the real shaft 420, and the clamp spring 480 is fed by a material rod in a feeding manner, that is, the clamp spring 480 is manually stacked and threaded on the material rod, and the single clamp spring 480 is pushed out by an air pump.

In a preferred embodiment, as shown in fig. 19 to 21, the clamp spring press-fitting station OP30 includes a welding frame 310 fixedly disposed on the ground, and the welding frame 310 is provided with a clamping and positioning mechanism 350 for fixing the real shaft 420, a clamp spring preassembling mechanism 330 for pre-fitting the clamp spring 480 on the collet 328, and a press-fitting detection mechanism 320 for press-fitting the clamp spring 480 on the collet 328 on the real shaft 420.

As shown in fig. 20 and 21, the press-fit detection mechanism 320 includes a main body bracket 321 mounted on the welding frame 310 by a lifting device, a press-fit cylinder 329 is fixedly arranged on an end surface of one side of the main body bracket 321, which is close to the ground, a press-fit bracket 324 is fixedly arranged at a telescopic end of the press-fit cylinder 329, a guide rod assembly is arranged between the press-fit bracket 324 and the main body bracket 321, and a press sleeve 326 is fixedly arranged on an end surface of one side, which is far away from the main body bracket 321, of the press-fit bracket 324.

It can be appreciated that the lifting device enables the main body bracket 321 to vertically lift relative to the welding frame 310, and the guide rod assembly is mainly used for guiding the movement of the press-fit bracket 324 when the telescopic end of the press-fit cylinder 329 drives the press-fit bracket 324 to move, so that the movement of the press-fit bracket 324 and the press sleeve 326 is smoother.

The main body bracket 321 is also fixedly provided with a lifting cylinder 322 which has the same expansion direction as the press-fitting cylinder 329, the telescopic end of the lifting cylinder 322 is fixedly connected with a lifting guide rod 325 which is coaxial with a press sleeve 326, the press sleeve 326 is axially provided with a through hole in a penetrating way, and one side end of the lifting guide rod 325, far away from the lifting cylinder 322, passes through the press-fitting bracket 324 and the press sleeve 326 through hole and can be provided with a sleeve head 328 through a quick-change structure.

The sleeve head 328 is a revolving body, the radius of one end far away from the lifting guide rod 325 is larger than the inner diameter of the clamp spring 480, and meanwhile, the through hole in the pressing sleeve 326 is in clearance fit with one end of the sleeve head 328 far away from the lifting guide rod 325.

The quick-change structure is including fixed setting up on the through-hole inner wall of pressure cover 326 and with lifting guide arm 325 sliding connection's quick-change sleeve, quick-change sleeve keeps away from lifting cylinder 322 one side end and is equipped with the ladder groove, from lifting cylinder 322 to ground one side, ladder groove diameter in the quick-change sleeve increases gradually, lifting guide arm 325 keeps away from lifting cylinder 322 one side end and is equipped with the cartridge hole, link up between cartridge hole inner wall and the lifting guide arm 325 outer disc and be equipped with a plurality of ball grooves, the ball groove is interior to have can with the spacing ball of quick-change sleeve inner ladder groove inner wall butt, be equipped with on the one side end of pullover 328 and quick-change subassembly complex can with spacing ball complex spacing recess.

It can be appreciated that when the sleeve head 328 is mounted on the lifting guide rod 325, the limit ball is located in the limit groove in the sleeve head 328 under the interference action of the inner wall of the smaller section of the stepped groove diameter, so that the snap-fit of the sleeve head 328 on the lifting guide rod 325 is realized, when the sleeve head 328 is dismounted on the lifting guide rod 325, the relative position between the lifting guide rod 325 and the quick-change sleeve is changed, namely, the limit ball moves to the inner wall of the larger section of the stepped groove diameter, at this time, the interference of the stepped groove to the limit ball is relieved, so that the limit ball is separated from the limit groove in the sleeve head 328, namely, the snap-fit of the sleeve head 328 and the lifting guide rod 325 is relieved, and the quick-change can be realized by directly dismounting the lifting guide rod 325.

The end face of one side, far away from the lifting cylinder 322, of the press-fit bracket 324 is fixedly provided with a detection cylinder 323 with the same expansion direction as the expansion direction of the press-fit cylinder 329, the expansion end of the detection cylinder 323 is fixedly provided with a detection sleeve 327 which is sleeved on the press sleeve 326 and is in sliding connection with the press sleeve 326, and the press-fit bracket 324 is also provided with a displacement ruler for monitoring the stroke of the detection sleeve 327.

As shown in fig. 22 and 23, the clamp spring preassembling mechanism 330 includes a connection frame 331 fixedly disposed on the welding frame 310 and located between the press mounting detecting mechanism 320 and the clamping positioning mechanism 350, the connection frame 331 is connected with a sliding table 332 through an electric sliding rail on an end surface of one side far away from the ground, the sliding table 332 can slide horizontally and linearly under the action of the electric sliding rail, a follow-up bracket 333 is fixedly disposed on an end surface of one side far away from the ground, a feeding tool 335 and a pushing assembly matched with the feeding tool 335 are fixedly disposed on an end surface of one side far away from the ground, the pushing assembly includes a pushing cylinder 334 fixedly disposed on an end surface of one side far away from the ground, the extending direction of the pushing cylinder 334 is the same as that of the sliding table 332, a blanking plate 339 is fixedly disposed on an extending end of the sliding table, the feeding tool 335 is located on one side far away from the ground and close to the blanking plate 339, a plurality of clamp springs 480 are preset on the feeding tool 335, and the clamp springs 480 stacked on the feeding tool 335 can fall onto the blanking plate and are positioned in a chute 335 on the blanking plate 339 in the extending process of the blanking plate 339.

The follow-up bracket 333 is further fixedly provided with a fixed rod 336 on the end face of one side far away from the ground, the fixed rod 336 is fixedly connected with a material supporting cylinder 337, the telescopic direction of the material supporting cylinder 337 is the same as that of the lifting cylinder 322, a material supporting claw 338 is fixedly arranged on the telescopic end, the material supporting claw 338 is of a three-claw structure, and a clamp spring 480 placed on the blanking plate 339 can be stretched and grabbed from the inside.

The end face of the sliding table 332 far away from the ground is also connected with a transition sliding table 340 through an electric sliding rail, the sliding direction of the transition sliding table 340 is the same as that of the sliding table 332, a limit claw assembly 341 is fixedly arranged on the end face of the transition sliding table 340 far away from the ground, and a sleeve head 328 can be fixedly arranged on the transition sliding table 340 through the limit claw assembly 341 in a clamping mode.

Working principle of clamp spring press-fitting work station OP 30:

initially, the clamping and positioning mechanism 350 is not provided with the real shaft 420, the blanking groove on the blanking plate 339 is positioned at the corresponding position of the feeding tool 335, the supporting claw 338 and the limiting claw assembly 341 are positioned on the same axis, the sleeve head 328 is arranged on the limiting claw assembly 341, one end of the sleeve head is matched with the quick-change structure upwards, and the lifting cylinder 322, the press-fitting cylinder 329 and the detecting cylinder 323 on the press-fitting detecting mechanism 320 are all in a retraction state;

During pre-loading, the blanking plate 339 extends out, the clamp spring 480 on the feeding tool 335 falls into a blanking groove on the blanking plate 339 and is positioned at a position corresponding to the supporting claw 338, the supporting cylinder 337 is started to drive the supporting claw 338 to prop and grasp the clamp spring 480 on the blanking plate 339, the blanking plate 339 retracts, and the supporting claw 338 sleeves the clamp spring 480 on the sleeve head 328 on the blanking plate 314 and then resets;

during press fitting, the transition sliding table 340 extends to the position corresponding to the lifting guide rod 325, the press fitting detection mechanism 320 moves towards one side close to the ground under the action of the lifting device, the lifting guide rod 325 is changed to the relative position with the press sleeve 326 through expansion and contraction in the moving process of the press fitting detection mechanism 320, therefore, after the clamp spring 480 on the limit claw assembly 341 is inserted on the lifting guide rod 325, the clamp spring 480 is clamped in the inserting hole on the lifting guide rod 325 through the quick change device, after the sleeve head 328 is installed, the real shaft 420 resets under the action of the lifting device, the transition sliding table 340 resets, the real shaft 420 with the clamp spring 480 to be installed is fixed on one side close to the ground through the clamping positioning mechanism 350, at this time, the press fitting detection mechanism 320 moves towards one side close to the ground under the action of the lifting device until the sleeve head 328 is in conflict with the real shaft 420, the press fitting cylinder 329 starts to move towards one side close to the ground, under the conflict action of the press sleeve 326, the clamp spring 480 sleeved on the sleeve head 328 is pushed to the corresponding position on the real shaft 420, the test cylinder 323 starts to drive the test sleeve 327 to move towards one side close to the ground, namely the test sleeve 327 moves towards one side close to the test sleeve 420 under the action of the impact, the test sleeve 327 is reset distance is detected, and the test distance is detected when the whole test distance is completed, and the test distance is finished, the test is finished, and the test distance is carried by the test device is finished.

In a preferred embodiment, in the first fixing end clamp closing-up station OP70 and the second fixing end clamp closing-up station OP80, the fixing end large clamp 451 with different structures is respectively subjected to necking, when the fixing end large clamp 451 is in a non-ear structure, the fixing end large clamp 451 is locked by the first fixing end clamp closing-up station OP70, when the fixing end large clamp 451 is in an ear structure, the fixing end large clamp 451 is locked by the second fixing end clamp closing-up station OP80, a spline aligning process is arranged on the second fixing end clamp closing-up station OP80, and the spline aligning process is used for rotating the fixing end large clamp 451 and positioning the fixing end large clamp 451 through a camera, so that the fixing end large clamp 451 is convenient to position when the fixing end large clamp 451 is in an ear structure.

It will be appreciated that the transfer of the real shaft 420 between the first and second fixed end pinching and closing stations OP70, OP80 is performed by the second robot OP320, that is, the second robot OP320 clamps the real shaft 420 and then turns it over, and similarly, NG pieces generated in the previous process are removed by the second robot OP320, that is, NG pieces generated in the previous process are transferred to the operating position of the second robot OP320 according to the process, and the removal is performed by the second robot OP 320.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims (9)

1. The three-pin-joint mounting station for CV shaft assembly is characterized by comprising a spline mechanism and a three-pin-joint press-fitting mechanism, wherein the spline mechanism is used for spline alignment and pre-pressing of a real shaft and a three-pin joint, and the three-pin-joint press-fitting mechanism is used for pressing between the real shaft and the three-pin joint;

the spline aligning mechanism comprises a pre-pressing clamping jaw unit used for clamping the three pin joints and capable of applying pre-pressing to the three pin joints, and an aligning clamping jaw unit used for clamping the real shaft and capable of driving the real shaft to rotate so as to realize spline action.

2. The three-pin joint mounting station for CV shaft assembly of claim 1, wherein the pre-compression jaw unit includes:

the first mounting plate is fixedly arranged on a mounting frame;

the cylinder mounting frame is fixedly arranged on the first mounting plate;

the first telescopic cylinder is fixedly arranged on the cylinder mounting frame;

the three-finger clamping jaw is fixedly arranged on the telescopic end of the first telescopic cylinder;

the clamping limiting block is arranged in the three-finger clamping jaw and used for clamping and limiting the three pin joints;

the clamping limiting block is provided with a floating gap in the three-finger clamping jaw.

3. The three-pin joint mounting station for CV shaft assembly of claim 2, wherein the pre-compression jaw unit further includes a displacement sensor fixedly disposed on the cylinder mount for detecting a telescoping stroke of the telescoping first telescoping cylinder.

4. A three-pin joint mounting station for CV shaft assembly according to any of claims 1 to 3, wherein the alignment jaw unit includes:

the first fixing bracket is fixedly arranged on the mounting frame;

the central shaft is rotatably arranged on the first fixed bracket and is coaxial or parallel to the telescopic end of the first telescopic cylinder;

the clamping jaw driving assembly is fixedly arranged on the central shaft and used for fixedly clamping the real shaft;

and the alignment rotating assembly is used for driving the clamping jaw driving assembly and the real shaft to rotate.

5. The three pin joint mounting station for CV shaft assembly of claim 4, wherein the jaw drive assembly comprises:

a joint plate fixedly arranged on the central shaft;

the second telescopic cylinder is fixedly arranged on the connecting plate;

the transmission rack is fixedly arranged at the telescopic end of the second telescopic cylinder;

the track disc is rotationally arranged on the central shaft;

The transmission gear is fixedly arranged on the track disc and meshed with the transmission rack;

the guide arc grooves are annularly arranged on the track disc in an array mode relative to the central shaft;

the limiting disc is fixedly arranged on the central shaft;

the clamping jaw blocks are arranged in an annular array with respect to the central shaft and embedded on the limiting disc;

the sliding pin is fixedly arranged on the clamping jaw block and can slide in the guide arc groove;

the centering thimble is fixedly arranged at one side end of the central shaft relative to the clamping jaw block;

when the track disc rotates relative to the limit disc, the clamping jaw blocks can move along the radial direction of the limit disc.

6. The three pin joint mounting station for CV shaft assembly of claim 5, wherein the alignment rotating assembly comprises:

the third telescopic cylinder is hinged to the first fixed support;

the pull rod is fixedly arranged at the telescopic end of the third telescopic cylinder;

the axle-holding block is hinged to one side end, away from the third telescopic cylinder, of the pull rod;

wherein, the flexible direction of the third flexible cylinder is not beyond the axis of center pin.

7. The three-pin joint mounting station for CV shaft assembly of claim 1, wherein the three-pin joint press-fitting mechanism includes a floating press unit for applying a press force to the three-pin joint, and a supporting jaw unit for gripping the real shaft.

8. The three pin joint mounting station for CV shaft assembly of claim 7, wherein the floating compression unit comprises:

the second mounting plate is fixedly arranged on a mounting frame;

the servo press is fixedly arranged on the second mounting plate;

the floating joint is fixedly arranged at the telescopic end of the servo press;

the floating ball is fixedly arranged in the floating joint;

the joint head is sleeved on the floating ball and can roll relative to the floating ball;

the transition shaft is fixedly arranged at one side end of the joint head, which is far away from the servo press;

the step seat is connected with one side end of the transition shaft, which is far away from the joint head;

the three-pin joint pressure head is fixedly arranged at one side end of the step seat far away from the joint head;

the real-shaft thimble is elastically telescopic and arranged on the end face of one side, far away from the joint head, of the step seat.

9. The three pin joint mounting station for CV shaft assembly of claim 8, wherein the floating compression unit further comprises:

the second fixing bracket is fixedly arranged on the mounting frame;

and the pulling and pressing sensor is fixedly arranged on the second fixing support, and the two induction ends are respectively connected with the transition shaft and the step seat.

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