JPS6211977B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION According to the present invention, an inner rotating body and an outer rotating body transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body. This invention relates to a swinging device for an inner rotating body for a constant velocity joint, which is used in the assembly process of a constant velocity joint of the type that is performed.

The assembly process of a constant velocity joint in which the inner rotating body and the outer rotating body transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body is extremely difficult. Because it was complicated, conventionally,
When assembling a constant velocity joint like the one above,
This method has no choice but to rely on manual work by skilled workers, and as a result, much labor and time are required, and there is a limit to improving production efficiency.

Therefore, the main object of the present invention is to enable the inner rotating body and the outer rotating body to transmit rotational force from one side to the other via small spheres arranged along the outer periphery of the inner rotating body. An object of the present invention is to obtain a rocking device for an inner rotary body for a constant velocity joint for automating the process of pushing a small sphere into the inner rotary body in the assembly process of a type of constant velocity joint.

EMBODIMENT OF THE INVENTION Hereinafter, an example of a case where a rocking device for an inner rotating body for a constant velocity joint according to an embodiment of the present invention is applied to a fully automatic assembly device for a constant velocity joint will be described with reference to the drawings.

First, in FIG. 1a, the inner rotating body 1 of the constant velocity joint includes, for example, an inner ring member 2 and an annular cage 4 fixed on the outer peripheral surface of the inner ring member 2 and having an outer surface formed of a convex spherical surface. A connecting hole 3 having, for example, a female spline on the inner circumferential surface is formed in the center of the inner ring member 2 to be fitted to one of the input-side rotation shaft and the output-side rotation shaft. In addition, the outer circumferential portion 5 formed by the portion along the outer circumferential surface of the inner ring member 2 and the cage 4 has, for example, six small sphere receiving holes 6 ₁ , 6 ₂ , ..., 6.
₆ are formed at equal intervals in the circumferential direction.

In addition, as shown in FIG. 1b, the outer rotating body 8 of the constant velocity joint has an inner surface formed by a concave spherical surface that matches the convex spherical surface forming the outer surface of the outer circumference 5 of the inner rotating body 1. It has a surface 11, and each small sphere receiving hole 6 ₁ , 6 of the inner rotating body 1 is formed on this inner surface.
₂ ,......,6 engages with the small sphere fitted in ₆ ,
An outer ring portion 10 having a small sphere receiving groove 12 that transmits rotational force between each of these small spheres, and a connecting portion 9 that is connected to the other rotation shaft of the input side rotation shaft or the output side rotation shaft. It is equipped with

The center of the concave spherical surface forming the inner surface 11 of the outer ring portion 10 of the outer rotating body 8 is generally located on the rotation center line of the outer rotating body 8 and on the inner side of the outer ring portion 10.
Since the diameter in the direction perpendicular to the rotational center line at the edge of the inner surface 11 is smaller than the diameter in the direction perpendicular to the rotational center line at a portion further inside than the edge, each of the inner rotating bodies 1 Small sphere receiving hole 6 ₁ ,
6 ₂ , ......, ₆ After fitting the small sphere into 6 , the inner rotating body 1 is connected to the outer ring part 1 of the outer rotating body 8 .
It is impossible to fit within 0.

Therefore, as the first step, Figure 1a
As shown in , among the small sphere receiving holes 6 ₁ , 6 ₂ , ......, 6 ₆ of the inner rotating body 1 , a pair of small sphere receiving holes 6 ₁ are located at positions facing each other in the diametrical direction. , 6 ₄ are selected, and the small spheres 7 ₁ , 7 ₄ are pushed into the pair of small sphere receiving holes 6 ₁ , 6 ₄ from the radial direction, respectively.

Next, as a second step, as shown in _FIG . ₇ While maintaining the relative posture of the inner rotating body 1 with respect to the outer rotating body 8 such that the inner rotating body 1 does not interfere with the edge of the outer rotating body 8,
is inserted into the outer rotating body 8.

As a third step, as shown in FIG. 1c, the rotational center line of the inner rotating body 1 and the rotational center line of the outer rotating body 8 are made to coincide.

Then, as the fourth step,
As _{shown in} FIG. First, the small spheres 7 ₂ and 7 ₃ are respectively inserted from the radial direction of the inner rotating body 1 into the small sphere receiving holes 6 ₂ and 6 ₃ on one side exposed from the outer rotating body 8 of the inner rotating body 1, and then Small sphere receiving hole 6 ₅ on the side of
Small spheres 7 ₅ and 7 ₆ are attached to inner rotating body 1 on 6 ₆ , respectively.
Push in from the radial direction to complete the assembly.

FIG. 2 shows an overall layout of an example of an assembly apparatus for assembling a constant velocity joint through the above steps. The outer rotating body 8 is connected to the inner surface 1 of the outer ring portion 10.
A conveying device 13, such as a conveyor, which conveys sequentially at regular intervals in an attitude such that 1 faces upward, is moved to an automatic working position for carrying out the first step shown in FIG. Automatic working position for performing the second step shown in FIG. 1 b, automatic working position for performing the third step shown in FIG. 1 c, FIG. 1 d and FIG. 1 e The automatic working position for carrying out the fourth step shown in FIG.

In the automatic working position, the inner rotary bodies 1 are fed one after another by a chute 14, and the inner rotary bodies 1 fed by this chute 14 run against a guide wall 17 in a direction perpendicular to the chute 14.
Immediately upon contact with the rod 16 of the actuating cylinder 15, the inner rotating body 1 is pushed along the guide wall 17 and moved. And inner rotating body 1
When it comes into contact with the guide wall 18 perpendicular to the guide wall 17, it is held at that position, and in this state, a pair of diametrically opposed, for example, small sphere receiving holes 6 ₁ and 6 ₄ of the inner rotating body 1 are opened. Small spherical push-in portions 20 and 22 are formed at the tip of each rod of a pair of actuating cylinders 19 and 21 that are disposed on a straight line and facing each other with the inner rotating body 1 in between.
pushes each small sphere 7 ₁ , 7 ₄ into the corresponding small sphere receiving hole 6 ₁ , 6 ₄ .

At this time, the inner rotating body 1 is adjusted so that a pair of diametrically corresponding, for example, small sphere receiving holes 6 ₁ , 6 ₄ of the inner rotating body 1 are on the center line of each small sphere pushing part 20 , 22 as accurately as possible. The orientation needs to be set, but in order to automatically set the orientation of the inner rotor 1 to the proper orientation, for example, the inner rotor 1 must be smoothly inserted into the outer rotor 8. By using chamfered portions 5a and 5b pre-formed on the outer surface of the inner rotating body 1 so that the inner rotary body 1 can be easily By sequentially contacting the inner rotating body 1, it is possible to move and hold the inner rotating body 1 while always maintaining an appropriate orientation. Alternatively, when the inner rotating body 1 contacts the guide wall 18, the orientation of the selected small sphere receiving hole of the inner rotating body 1 is detected by the detection means, and the orientation of the inner rotating body 1 is determined to be an appropriate orientation. The orientation of the inner rotating body 1 may be automatically corrected by rotating the inner rotating body 1 about the rotation center line so that the inner rotating body 1 is rotated.

3 and 4 show an example of a specific structure of the small sphere pushing device A for carrying out the first step in the automatic working position shown in FIG.
A piston 41 is fitted into the actuating cylinder 19 fixed on the base plate 40.
The rod 42, which is integral with the fluid supply and discharge hole 43, expands when a working fluid such as hydraulic oil is introduced into the working cylinder 19 through the fluid supply and discharge hole 43.
When the working fluid is introduced into the working cylinder 19 through 4, it contracts.

An annular cylinder chamber 45 with an air vent hole is formed in the rod 42, and a pressure spring 46 is always applied to the rod 42 in this annular cylinder chamber 45.
The annular piston 4 is pressed toward the tip side of the annular piston 4.
7 is inserted. The tip of the annular rod 48, which is integrated with the annular piston 47, protrudes beyond the tip of the small-diameter protrusion 49 that normally protrudes along the center line of the rod 42 due to the pressing action of the pressure spring 46. . A cylindrical small sphere supply section 50 is formed at the tip of the annular rod 48 for sequentially feeding small spheres ₇₁ sent from a magazine (not shown) into the tip of the annular rod 48 one by one. .

The proximal end of an interlocking arm 52 is fixed to the distal end of the annular outer wall 51 of the rod 42, and a rack 53 is formed on the side surface of the distal end of the interlocking arm 52.
is engaged with a pinion 57 on a pinion shaft 56 that is pivotally supported between a support plate 54 fixed on the base plate 40 and a holding plate 55 on which the inner rotating body 1 is held. In FIG. 2, when the inner rotary body 1 is moved along the guide wall 17 and comes into contact with the guide wall 18, in FIGS. 3 and 4, the rotation center line of the inner rotor 1 is A pinion shaft 56 is arranged so as to coincide with the center line.

A rod 58 is slidably fitted into the actuating cylinder 21 which is fixed on the base plate 40 at a position facing the actuating cylinder 19 with the pinion shaft 56 in between. An annular piston 61 is fitted into the annular cylinder chamber 59 so as to be constantly pressed toward the distal end of the rod 58 by a pressure spring 60. The tip of the annular rod 62 that is integrated with the annular piston 61 projects further than the tip of the small-diameter protrusion 63 that normally protrudes along the center line of the rod 58 due to the pressing action of the pressure spring 60. . A cylindrical small sphere supply section 64 is formed at the tip of the annular rod 62 for sequentially feeding small spheres ₇₄ sent from a magazine (not shown) into the tip of the annular rod 62 one by one. .

The proximal end of an interlocking arm 66 is fixed to the distal end of the annular outer wall 65 of the rod 58, and a rack 67 is formed on the side surface of the distal end of the interlocking arm 66.
meshes with the pinion 57 from the opposite side of the pinion shaft 56 from the rack 53. The center of the rod 42 and the center line of the rod 58 are both on the same straight line perpendicular to the center line of the pinion shaft 56, and the tip surface of the small diameter protrusion 49 of the rod 42 and the center line of the pinion shaft 56 are also on the same line. The distance between is always 58
The distance between the tip surface of the small diameter protrusion 63 and the center line of the pinion shaft 56 is maintained to be equal to the distance.

Since the small sphere pushing device A shown in FIG. 3 and FIG. When in this position, the rod 58, which is in an interlocking relationship with the rod 42 via the interlocking arms 52 and 66, is in the retracted position, and in this state, the small spheres 71 and ₇₁ are respectively fed from the magazine via the small sphere supply sections 50 and 64. , ₇₄ are fed into the tips of the corresponding annular rods 48,62. Then, the inner rotating body 1 is connected to the guide wall 17 in FIG.
guide wall 1 in an appropriate orientation.
8, the fluid supply/discharge hole 44 is communicated with the fluid storage tank, and working fluid is introduced into the working cylinder 19 from the fluid supply/discharge hole 43, causing the rod 42 to extend. Along with this, the rod 58, which is in an interlocking relationship with the rod 42, also moves forward. As a result, first, the tip end surface of each annular rod 48, 62 is
The rod 5 contacts the rod 5 from the diametrically opposite side, and the rod 42 further extends and moves forward.
8 further moves forward, and each small diameter protrusion 49, 63 moves relative to each annular rod 48, 62 while resisting the elastic force of each pressing spring 46, 60, and each small sphere 7 ₁ , 7 _{and 4} respectively correspond to the small sphere receiving holes 6.
₁ , 6 Push into ₄ . At this time, each annular rod 4
The tips of 8 and 62 are connected to corresponding small spheres 7.
₁ , 7 ₄ to the respective small sphere receiving holes 6 ₁ , 6 ₄ reliably. When the small spheres 7 ₁ , 7 ₄ have been pushed into the small sphere receiving holes 6 ₁ , 6 ₄ , the fluid supply/discharge hole 43 is communicated with the fluid storage tank, and the working fluid is activated from the fluid supply/discharge hole 44 . By being introduced into the cylinder 19, the rod 42 contracts and retreats, and the rod 58 also retreats accordingly.

In FIG. 2, when the pair of small spheres 7 ₁ , 7 ₄ have been pushed into the respective small sphere receiving holes 6 ₁ , 6 ₄ and the rods of the respective actuating cylinders 19 , 21 are retracted,
Immediately, the rod 24 of the actuating cylinder 23 expands and presses the inner rotating body 1 along the guide wall 18,
It is moved toward the gripping device 30 of the inner rotating body inserting device B waiting in the automatic working position.

The inner rotary body insertion device B includes a rotary drive device 25 for reciprocating the rotary shaft 26 within a certain angle range around the rotation center line, a support frame 27 fixed to the tip of the rotary shaft 26, and a support frame 27 for supporting the rotary shaft 26. An actuating cylinder 28 fixed on the frame 27 and a rod 2 of the actuating cylinder 28 that expands and contracts in a direction perpendicular to the rotating shaft 26.
A gripping device 30 for gripping the inner rotating body 1 attached to the tip of the rotor 9 is provided.

When waiting for the inner rotating body 1, the operating cylinder 28 is held, for example, in a horizontal direction, and when the inner rotating body 1 is pressed by the rod 24 of the operating cylinder 23 and moves along the guide wall 18, the operating cylinder 28 is immediately moved. When the rods 29 of 28 extend and move forward, and the inner rotating body 1 reaches the edge of the holding plate 55, the gripping claws supported at the tip of the gripping device 30 grasp the inner rotating body 1 from both upper and lower sides. do. When the gripping device 30 grips the inner rotating body 1,
As the rod 29 of the actuating cylinder 28 contracts, the rotating shaft 26 of the rotary drive device 25 rotates, and the gripping device 30 rotates the inner rotating body 1 from the position in which it is gripped with its rotational center line facing up and down. The body 1 is positioned downward and swung into a gripping position with its rotation center line pointing in the horizontal direction. In synchronization with this movement, the outer rotor 8 is carried below the inner rotor 1 by the conveyor 13, and the rod 29 of the actuating cylinder 28 is expanded again, thereby moving the center of rotation of the inner rotor 1. is perpendicular to the center line of rotation of the outer rotating body 8 and the pair of small spheres 7 ₁ , 7 ₄ does not interfere with the edge of the outer rotating body 8 . The inner rotating body 1 is inserted into the outer rotating body 8 while maintaining the same posture.

5 and 6 show a more detailed example of the inner rotating body inserting device B for carrying out the second step as shown in FIG. 1b in the automatic working position of FIG. It can be done. A main body 69 of the gripping device 30 is fixed to the tip of the rod 29 of the operating cylinder 28 via a fitting 68.
A rod 72 integrated with a piston 71 is slidably fitted into a cylinder chamber 70 formed in a cylinder 9.
The working fluid flows into the cylinder chamber 7 from the fluid supply/discharge hole 73.
When introduced into the cylinder chamber 70, the cylinder expands and moves forward, and when working fluid is introduced into the cylinder chamber 70 from the fluid supply/discharge hole 74, it contracts and retreats.

An engagement pin 75 is held at the tip of the rod 72, and one end of each of a pair of bell cranks 78, 79 whose central portions are pivoted by pivot shafts 76, 77, respectively. At the same time, the other ends of the bell cranks 78 and 79 slide in a direction perpendicular to the center line of the piston 72 along guide grooves 86 formed at the tips of the main body 69. , are engaged with engagement pins 80 and 81 fixed to a pair of sliding bodies 82 and 83, respectively, which have corresponding gripping claws 84 and 85 at their tips.

Therefore, when the rod 72 extends and moves forward, each of the bell cranks 78 and 79 swings around the pivot shafts 76 and 77 in a direction in which the distal ends expand, thereby separating the gripping claws 84 and 85 from each other. When the rod 72 contracts and retreats, each bell crank 7
8 and 79 swing around pivot shafts 76 and 77, respectively, in a direction in which the distal ends approach each other, and each gripping claw 8
4 and 85 are brought closer to each other.

Since the inner rotating body insertion device B shown in FIGS. 5 and 6 is configured as described above, the actuating cylinder 28 is in a horizontal state when waiting for the inner rotating body 1. , each gripping claw 84,
The rotary shaft 26 of the rotary drive device 25 rotates so that the rotary shaft 85 faces the inner rotating body 1 on the holding plate 55 of FIG. Since the discharge hole 74 communicates with the fluid storage tank and the working fluid is introduced into the cylinder chamber 70 from the fluid supply and discharge hole 73,
As the rod 72 extends and moves forward, the distal ends of the bell cranks 78 and 79 are swung in the direction of expanding each other, and the gripping claws 84 and 85 move away from each other. occupy

When the inner rotating body 1 is pressed by the rod 24 of the actuating cylinder 23 in FIG. 2 and moves along the guide wall 18, the rod 29 of the actuating cylinder 28 immediately moves.
When the inner rotating body 1 extends and moves forward and reaches the edge of the holding plate 55, the fluid supply/discharge hole 73 communicates with the fluid storage tank, and the working fluid flows into the cylinder chamber 70 from the fluid supply/discharge hole 74. By being introduced, the rod 72 contracts and retreats, and accordingly, the distal ends of the respective bell cranks 78 and 79 are swung in the direction in which they approach each other, and the respective gripping claws 84 and 85 are moved in the direction in which they approach each other. While moving, the inner rotating body 1 is surely held from both upper and lower sides.

When the pair of gripping claws 84 and 85 grip the inner rotating body 1, the rod 29 of the actuating cylinder 28 contracts and the rotating shaft 26 of the rotary drive device 25 rotates, and the gripping device 30 holds the inner rotating body 1. It is swung from a posture in which the inner rotating body 1 is held downward with its center line of rotation pointing in the vertical direction to a posture in which it is held with its center line of rotation pointing in the horizontal direction. Then, the rod 29 of the actuating cylinder 28 is expanded again, so that the center line of rotation of the inner rotating body 1 is perpendicular to the center line of rotation of the outer rotating body 8, as shown in FIG. With the inner rotating body 1 maintained in a relative posture with respect to the outer rotating body 8 such that the pair of small spheres 7 ₁ , 7 ₄ do not interfere with the edge of the outer rotating body 8 , the inner rotating body 1 is It is fitted into the outer rotating body 8 that has been carried downward.

When the inner rotating body 1 is inserted into the outer rotating body 8, the fluid supply/discharge hole 74 is immediately communicated with the fluid storage tank, and the working fluid is introduced into the cylinder chamber 70 from the fluid supply/discharge hole 73. , Rod 72
extend and move forward, and accordingly, the distal ends of the respective bell cranks 78, 79 are swung in the direction of mutually expanding, and the respective gripping claws 84, 85 move in the direction of separating from each other, until the gripping claws 84, 85 move away from each other. It separates from the inner rotating body 1 that was being held. Then, as the rod 29 of the actuating cylinder 28 contracts, the rotary drive device 25
The rotating shaft 26 rotates, the operating cylinder 28 becomes horizontal, and the inner rotating body inserting device B again maintains the standby posture for the next inner rotating body 1.

In FIG. 5, the outer rotating body 8 after the inner rotating body 1 has been inserted by the inner rotating body insertion device B is as follows.
It is transported by the transport device 13 and reaches an automatic working position for performing the third step, where the posture of the inner rotating body 1 with respect to the outer rotating body 8 is corrected by the correction device 31.

FIG. 7 shows a specific example of a correction device 31 for correcting the posture of the inner rotating body 1 with respect to the outer rotating body 8 as shown in FIG. 1c. An actuating cylinder 89 is horizontally fixed to the base plate 87 via a bracket 88, and the tip of the rod 90 of the actuating cylinder 89 has a cam shape with a horizontal lower surface and a preset front edge. A first straightening plate 91 having a first straightening plate 91 is attached. In addition, the board 8
An actuating cylinder 92 is fixed vertically above the conveying device 13 at a position directly above the conveying device 13, and a second straightening plate 94 having a horizontal lower surface is attached to the lower end of the rod 93 of the actuating cylinder 92. There is.

Since the straightening device 31 shown in FIG. 7 is configured as described above, the outer rotating body 8 with the inner rotating body 1 still inserted by the inner rotating body insertion device B is transported by the conveying device 13. When the straightening device 31 is reached, the rod 90 of the actuating cylinder 89 expands, and the first straightening plate 9
1 moves forward in the horizontal direction with the front end edge of the outer ring portion 10 being close to the upper end surface of the outer ring portion 10 of the outer rotating body 8, and the outer ring portion 1
An inner rotating body 1 protruding upward from the upper end surface of 0
The inner rotating body 1 is tilted within the outer rotating body 8 to such an extent that the center line of rotation of the inner rotating body 1 is directed substantially in the vertical direction. At this time, the first correction plate 91
The outer rotating body 8 is appropriately rotated around its rotation center line according to the cam shape of the front edge of the inner rotating body 1.
When the inner rotating body 1 is tilted within the outer rotating body ₈ to such an extent that the center _line of rotation of are parallel to the conveying direction of the conveying device 13.

After the inner rotary body 1 is tilted in this way, the rod 90 of the actuating cylinder 89 contracts and retreats, and the rod 93 of the actuating cylinder 92 expands, causing the lower surface of the second correction plate 94 to tilt the inner rotary body 1. By pressing, the rotational center line of the inner rotary body 1 is accurately directed in the vertical direction and coincides with the rotational center line of the outer rotary body 8. After the second straightening plate 94 presses the inner rotor 1 until the rotation center line of the inner rotor 1 coincides with the rotation center line of the outer rotor 8, the rod 93 of the actuating cylinder 92 contracts and retreats.

In FIG. 2, the inner rotating body 1 and the outer rotating body 8 after their postures have been corrected by the correction device 31.
is further transferred to FIG. 1 d and
and is sent to an automatic working position for carrying out the fourth step shown in Figure e.

First _, in the automatic working position, as _shown in FIG. A pair of actuating cylinders 32, ₃ having basically the same structure as the actuating cylinder 19 used in the first step is attached to the small sphere receiving holes ₆₂ , 63 on the side exposed from the outer rotating body 8.
The small spheres ₇₂ and 73 are pushed in by the small sphere pushing parts 33 and ₃₅ formed at the tip of each rod 4, respectively.

In addition, in _the automatic working position, as shown in _FIG . For the small sphere receiving holes ₆₅ , ₆₆ on the side exposed from the body 8, each rod of a pair of actuating cylinders 36, 38 having basically the same structure as the actuating cylinder 19 used in the first step. The small spheres 7 ₅ and 7 ₆ are pushed in by the small sphere pushing parts 37 and 39 formed at the tip, respectively, and the assembly of the constant velocity joint is completed.

FIGS. 8 and 9 show the steps for rocking the inner rotating body 1 in the automatic working position and in carrying out the fourth step as shown in FIGS. 1d and 1e. An example of a rocking device 95 according to an embodiment of the invention is shown. A piston 97 is provided in the operating cylinder 96 of the swinging device 95.
is inserted into the piston 97 so as to be slidably connected.
The rod 98 integrated with the rod 98 expands and descends when working fluid is introduced into the working cylinder 96 through the fluid supply/discharge hole 99, and contracts when the working fluid is introduced into the working cylinder 96 through the fluid supply/discharge hole 100. It is starting to rise. The upper surface of a frame 101 is fixed to the tip of the rod 98.
A pair of horizontal swing shafts 104 and 105 fixed to the mutually opposing side frame parts of the swing frame 107 are mounted on the mutually opposing side frame parts of the swing frame 107, respectively.
2, 103 so that it can swing freely.
An engaging element 106 that can be fitted into the connecting hole 3 of the inner rotating body 1 is provided in the center of the swing frame 107 to protrude downward. When the swinging device 95 is disposed above the conveying device 13 in FIG. Device 13
It is arranged so as to coincide with a swing axis passing through a pair of small spheres 7 ₁ and 7 ₄ of the upper inner rotating body 1 that are diametrically opposed to each other.

An operating cylinder 108 is fixed to the side frame portion of the frame 101, and a rod 11 of a piston 109 is slidably fitted into the operating cylinder 108.
0 expands and descends when the working fluid is introduced into the working cylinder 108 through the fluid supply/discharge hole 111, and the working fluid flows into the working cylinder 108 through the fluid supply/discharge hole 112.
When introduced into 8, it contracts and rises. The lower end of the rod 110 is connected to the link 113
One end of the link 113 is pivotally supported by a pivot pin 114, and the other end of the link 113 is a gear 1 that is pivotally supported by a support shaft 115 on the side frame of the frame 101.
At the distal end of the arm 117 whose proximal end is fixed to 16,
It is pivotally supported by a pivot pin 118. gear 11
6 meshes with a gear 119 fixed on the swing shaft 105.

The rocking device 95 based on the embodiment of the present invention shown in FIGS. 8 and 9 is configured as described above, so that the inner rotating body 1 can be rotated as shown in FIG. The inner rotating body 1 and the outer rotating body 8 are connected to the conveying device 1 with the center line of rotation oriented in the vertical direction.
3 and reaches just below the engaging element 106, the fluid supply/discharge hole 100 is communicated with the fluid storage tank, and the working fluid is introduced into the plate-making cylinder 96 from the fluid supply/discharge hole 99, whereby the rod 98 expands and descends together with the frame 101, and the engaging element 106 fits into the connecting hole 3 of the inner rotating body 1 accordingly. In this state, when the fluid supply/discharge hole 112 is communicated with the fluid storage tank and the working fluid is introduced into the working cylinder 108 from the fluid supply/discharge hole 111, the rod 110 expands and descends, causing a downward movement of the rod 110. is converted into a rotational movement of the gear 116 via the link 113 and the arm 117, and the rotational movement of the gear 116 is further transmitted to the gear 119, so that the engager 106 is moved toward the swing shaft 10.
It swings in one direction around the swing center line of 4,105.
As a result, the inner rotating body 1 has a pair of small spheres 7 ₁ , 7
Since it is swung in one direction around the swiveling axis passing through ₄ ,
Small sphere receiving hole 6 on the side exposed from the outer rotating body 8
₂ , 6 ₃ , small spherical push-in portions 33, 3 formed at the tip of each rod of the actuating cylinders 32, 34
5 allows the small spheres 7 ₂ and 7 ₃ to be pushed in.

Small sphere 7 for each small sphere receiving hole 6 ₂ , 6 _3
2 , 7, _{and 3} are completed, the fluid supply/discharge hole 11
1 is communicated with the fluid storage tank, and the fluid supply/discharge hole 1
12 into the working cylinder 108, the rod 110 contracts and rises, and the upward movement of the rod 110 causes the gear 116 to rotate in the opposite direction, and the gear 119 to rotate in the opposite direction. As a result, the engager 106 is
07, it swings in the opposite direction around the center line of the swing shafts 104 and 105 and returns to its original position. the result,
The rotational center line of the inner rotating body 1 again faces in the vertical direction and coincides with the rotational center line of the outer rotating body 8. In this state, the fluid supply/discharge hole 99 is communicated with the fluid storage tank, and the working fluid is introduced into the working cylinder 96 from the fluid supply/discharge hole 100, so that the rod 9
8 contracts and rises, and along with this, the frame 101
When the engaging element 106 rises together with the engaging element 106 and the engaging element 106 is disengaged from the connecting hole 3 of the inner rotating body 1, the work at the automatic working position shown in FIG. 2 is completed.

After the work at the automatic working position is completed, the inner rotating body 1 and the outer rotating body 8 are subsequently transported to the automatic working position by the conveying device 13.
In this automatic working position, another rocking device which basically has the same structure as the rocking device 95 and which is arranged in the opposite direction with respect to the conveying device 13 from the rocking device 95 arranged in the automatic working position is used. Due to the motion device, the inner rotating body 1 is now connected to a pair of small spheres 7 ₁ ,
7 about a pivot axis passing through ₄ in the opposite direction to that in the automatic working position, so that the small sphere on the side exposed from the outer rotating body 8, as shown in FIG. The small spheres 7 ₅ , 7 are inserted into the receiving holes 6 5 , _{6 6} by the small sphere push-in portions 37 , 39 formed at the tips of the respective rods of the actuating cylinders 36 , 38 .
₆ is pushed in.

As described above, according to the present invention, the swinging frame provided with the engager that engages with the inner rotating body of the constant velocity joint is swung by the frame attached to the tip of the rod that is telescopically operated by the actuating cylinder. Since it is pivoted so that it can swing freely around the moving axis, the simple configuration ensures that
The engager can be brought close to the inner rotating body and engaged with the inner rotating body, or can be separated from the inner rotating body and returned to the standby position, and the inner rotating body can be rotated around the pivot axis. The small sphere can be easily pushed into the inner rotating body by swinging relative to the outer rotating body of the quick joint.

Furthermore, since the swing drive device for swinging the swing frame is supported by the frame, the structure of the swing device as a whole is simple and its operation is reliable.

[Brief explanation of the drawing]

1A to 1E are process explanatory diagrams showing an example of the work process when assembling one side of the constant velocity joint, FIG. 2 is an overall layout diagram of the equipment for carrying out the assembly process of FIG. The figure is a cross-sectional plan view of the main part of the small sphere pushing device.
Fig. 4 is a partially sectional side view of the small sphere pushing device shown in Fig. 3, Fig. 5 is a partially sectional plan view of the main part of the inner rotating body insertion device, and Fig. 6 is an inner rotating body insertion device of Fig. 5. FIG. 7 is a side view of the main part of the orthodontic device, FIG. 8 is a front view of the main part of the swinging device according to an embodiment of the present invention, and FIG. FIG. 9 is a partially sectional side view of the main part of the rocking device shown in FIG. 8; 1... Inner rotating body, 8... Outer rotating body, 96...
... Working cylinder, 98 ... Rod, 101 ... Frame, 104, 105 ... Swing shaft, 106 ... Engagement element, 107 ... Swing frame, 108 ... Working cylinder constituting the swing drive device, 110...Rod forming the swing drive device, 113...Link forming the swing drive device, 116, 119...Gears forming the swing drive device.

Claims (1)

[Claims] 1. A frame 101 attached to the tip of a rod 98 that is telescopically operated by an operating cylinder 96, and a swing frame 107 that is swingably supported around swing shafts 104 and 105 by this frame 101. It is fixed on the swinging frame 107, and by engaging with the inner rotating body 1 of the constant velocity joint, the inner rotating body 1 is rotated around the swinging shafts 104, 105 by the outer rotating body 8 of the constant velocity joint. The engaging element 106 swings relative to the
and the swing frame 107 is connected to the swing shafts 104, 10.
Swing drive devices 108, 110, 11 supported by the frame 101 for swinging around 5 rotations.
3,116,119, a rocking device for an inner rotating body for a constant velocity joint.