CN210281282U

CN210281282U - Ball-and-wring assembling equipment

Info

Publication number: CN210281282U
Application number: CN201921149662.XU
Authority: CN
Inventors: 邓旭辉
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-07-22
Filing date: 2019-07-22
Publication date: 2020-04-10
Anticipated expiration: 2029-07-22

Abstract

The utility model provides a ball hank equipment, ball hank equipment includes: the ball hinge pressing device is used for accurately pressing the ball hinge rubber into a product and detecting the ball hinge rubber, and the ball hinge pressing device is positioned at the left part of the ball hinge assembling equipment; the ball-hinge static stiffness testing device is used for testing the tensile static stiffness and the pressure static stiffness of a product, the ball-hinge static stiffness testing device is positioned on the front side of the conveying mechanism, and the ball-hinge static stiffness testing device is positioned on the right part of the ball-hinge assembling equipment; a clamping mechanism; a feeding mechanism; a feeding mechanism; and a transport mechanism. The utility model provides a ball hank equipment can realize assembling the product to ball hank rubber is automatic to can carry out the static pressure to the ball hank rubber after the equipment and detect.

Description

Ball-and-wring assembling equipment

Technical Field

The utility model relates to a ball winding equipment technical field specifically, relates to a ball winding equipment.

Background

The automobile thrust rod is widely applied to luxury passenger cars with air suspensions and heavy-duty trucks with double-axle or multi-axle balanced suspensions. The automobile thrust rod is used for keeping the position of an axle relatively fixed and transmitting longitudinal force or transverse force of an automobile. Besides longitudinal force or transverse force of the automobile, the automobile can also transmit force and moment in other directions, so that a certain motion relation between wheels and an automobile body (or an automobile frame) is ensured, and the automobile has good driving performance. The process of pressing the spherical hinge of the automobile thrust rod commonly used at present is as follows. The method comprises the first step of adjusting the angles of bases of corresponding models and fixing the bases on a universal positioning bottom plate by bolts, the second step of placing a thrust rod on an adjusted positioning tool and placing a spherical hinge to be pressed, and the third step of pushing the placed thrust rod and tool into the center of a press machine to finish the pressing process.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a ball hank equipment realizes the automatic equipment of ball hank rubber to can improve production efficiency, reduction in production cost.

The utility model discloses a following technical scheme realizes: ball hank equipment, ball hank equipment includes:

the ball hinge pressing device is used for accurately pressing the ball hinge rubber into a product and detecting the ball hinge rubber, and the ball hinge pressing device is positioned at the left part of the ball hinge assembling equipment;

the ball-hinge static stiffness testing device is used for testing the tensile static stiffness and the pressure static stiffness of a product, the ball-hinge static stiffness testing device is positioned on the front side of the conveying mechanism, and the ball-hinge static stiffness testing device is positioned on the right part of the ball-hinge assembling equipment;

the clamping mechanism is used for clamping the unassembled products conveyed by the conveyor belt, is arranged at the upper end of the conveyor belt and is positioned in the middle of the ball-stranding pressing device;

the feeding mechanism is used for feeding the ball-stranding rubber to the ball-stranding pressing device, and the feeding mechanism is close to the ball-stranding pressing device;

the feeding mechanism is positioned behind the ball hinge pressing device and the feeding mechanism and is matched with the feeding mechanism;

and the conveying mechanism is used for conveying the products and is positioned in the center part penetrating through the ball-and-ream assembling equipment in the left-and-right direction.

And the mechanical arm is used for clamping the product in the assembling process and is arranged on the side of the conveying mechanism.

The utility model has the advantages that: the utility model discloses a ball hank equipment can realize assembling the product to ball hank rubber is automatic to the ball hank rubber in to can carry out the static pressure to the ball hank rubber after the equipment and detect.

Drawings

FIG. 1 is a schematic view of a ball-and-socket assembly apparatus according to one embodiment of the present invention;

FIG. 2 is a schematic view of a clamping mechanism of the ball-and-socket assembling apparatus of FIG. 1;

FIG. 3 is an exploded view of the clamping mechanism of the ball-and-socket assembling apparatus of FIG. 1;

FIG. 4 is a schematic view of a back pressure mechanism of the ball-and-mortar assembly apparatus of FIG. 1;

FIG. 5 is an exploded schematic view of the back pressure mechanism of the ball-and-mortar assembly apparatus of FIG. 1;

FIG. 6 is a schematic view of a back pressure mounting station of the back pressure mechanism of FIG. 5;

FIG. 7 is a schematic view of a feed mechanism of the ball-and-socket assembling apparatus of FIG. 1;

FIG. 8 is an exploded view of the feed mechanism of the ball-and-socket assembly apparatus of FIG. 1;

FIG. 9 is a schematic diagram of a positive pressure mechanism of the ball-and-socket assembly apparatus of FIG. 1;

FIG. 10 is an exploded view of the positive pressure mechanism of the ball-and-socket assembly apparatus of FIG. 1;

FIG. 11 is an exploded view of the positive pressure guide mechanism of the positive pressure mechanism of FIG. 10;

FIG. 12 is an exploded schematic view of the positive pressure head assembly of the positive pressure mechanism of FIG. 10;

FIG. 13 is an exploded schematic view of a link positioning mechanism of the positive pressure mechanism of FIG. 10;

FIG. 14 is an exploded view of a positive pressure servo slide module of the positive pressure mechanism of FIG. 10;

FIG. 15 is a schematic view of a robot arm of the ball-and-socket assembling apparatus of FIG. 1;

FIG. 16 is a schematic view of a ball-and-socket static stiffness testing apparatus of the ball-and-socket assembly apparatus of FIG. 1;

FIG. 17 is an exploded view of the ball-and-spigot static stiffness testing apparatus of FIG. 16;

FIG. 18 is an exploded view of a tension/compression servo slider module of the ball-and-socket static stiffness testing apparatus of FIG. 16;

FIG. 19 is an exploded view of the tension/compression fixing mechanism of the ball-and-socket static stiffness testing device of FIG. 16;

FIG. 20 is an exploded view of the tension/compression mounting plate of the tension/compression mounting mechanism of FIG. 19;

FIG. 21 is an exploded view of a tension and compression pressure head assembly of the ball-and-socket static stiffness testing apparatus of FIG. 16;

FIG. 22 is a schematic view of the products to be assembled in the ball-and-mortar assembly apparatus of FIG. 1;

FIG. 23 is a schematic view of a feed mechanism of the ball-and-mortar assembly apparatus of FIG. 1;

FIG. 24 is an exploded view of the ball hinge pressing device of the ball hinge assembling apparatus of FIG. 1;

FIG. 25 is a method of assembly of the ball-and-socket assembly apparatus of FIG. 1;

the designations in the figures have the following meanings: ball-stranding assembly equipment-1000;

a clamping mechanism-100;

a holder-110; a clamping head-120; a clamping cylinder-130; a clamping base plate-111;

a clamp proximity switch-112; a rectangular receiving hole-113; a clamping and accommodating through hole-114; clamping a vertical plate-115;

a front clamping base plate-1112; a rear clamping bottom plate-1111; a front clamping head-122; a rear clamping head-121;

a clamping rail-131; a rear clamping slide-132; a front clamping slide-133; a clamping slide-134;

a second clamping mechanism-100 a;

ball-stranding press-fitting device-900;

back pressure mechanism-200;

a back pressure servo sliding table module-210; a back pressure containing slide block-211; back pressure signal plate-2111;

back pressure ball screw-212; back pressure screw-2121; a back pressure nut-2122; back pressure rear bearing-213;

a back pressure fixing frame-214; a counter-pressure coupling-215; back-pressure servo motor-216; a counter pressure reducer-2161;

counter-pressure motor-2162; a counter-pressure slide-218; a back pressure mounting table-219; a back pressure stop cushion-2191;

a back pressure stop-2192; backpressure guide rails-2193; a back pressure guide block-2194;

back-pressure front bearing cushion-2195; back-pressure front bearing-2196; a back pressure detection seat-220;

a backpressure detection baffle-221; a back pressure detection positioning post-222; a back pressure detection displacement sensor-223;

back pressure detection displacement signal controller-224; a backpressure detection support plate-225;

back pressure detection proximity switch-226; back pressure limiting mechanism-230; back pressure limiting pressure head-231;

a back pressure limiting sliding table-232; back pressure limit track-2321; a back pressure limiting slide block-2322;

a back pressure limit cylinder-233; back pressure head assembly-240; counter pressure head-241;

back pressure connecting block-242; a back pressure enhancing plate-243; back-pressure photoelectric switch-250;

a feeding mechanism-300;

a feeding lead rail-310; a feeding clamping device-320; a feeding table-330; a feeding clamping jaw-321;

a blanking through hole-322; feeding a photoelectric sensor group-323; jaw slide-324; jaw guide-325;

a jaw cylinder-326; a feeding block-327; a feed cylinder-328; a feed rack-329; a feed baffle-331;

feeding cushion blocks-332; a feeding guide rail-333; a feeding slide block-334; a feeding fixing plate-335;

a feeding mechanism-300 a;

a vibrating disk-310 a; a direct shock rail-311 a; -a hoist-320 a; a feeding box-321 a;

a transport mechanism-400;

a conveyor belt-410;

a positive pressure mechanism-500;

a positive pressure guide mechanism-510; a positive pressure pilot cylinder-511; a positive pressure guide sliding table-512;

positive pressure guide rail-5121; a positive pressure guide slide block-5122; a positive pressure guide pressure head-513;

positive pressure pilot hole-5131; a positive pressure head assembly-520; a positive pressure head-521;

load cell-522; floating joint-523; a positive pressure connecting plate-524; a positive pressure stiffening plate-5241;

a positive pressure trigonid-525; a positive pressure head slider-5251; positive pressure head rail-5252;

link positioning mechanism-530; connecting rod positioning pillow block-531; a guide photosensor-532;

a connecting rod positioning seat-533; a connecting rod guide cylinder-534; a connecting rod guide shaft-5341;

a positive pressure servo sliding table module-540; a positive pressure mount-541; bearing-5411 under positive pressure;

positive pressure bearing cushion-5412; positive pressure rail-5413; a positive pressure guide block-5414;

positive stop bumper-5415; positive pressure stop-5416; a positive pressure slide-542;

a positive pressure ball screw-543; positive pressure nut-5431; positive pressure screw-5432; positive pressure upper bearing-544;

a positive pressure containment slider-545; positive pressure signal plate-5451; a positive pressure fixing frame-546; a positive pressure coupling-547;

a positive pressure servo motor-548; a positive pressure reducer-5481; positive pressure motor-5482;

positive lead rail-550; a positive pressure photoelectric switch-570; a positive pressure origin sensor-571;

a positive pressure endpoint sensor-572; a fixed mounting block-590; a first stand-591; a second stand-592;

a robot arm-600;

a second robot-600 a;

ball twist static stiffness testing device-700;

pulling and pressing the servo sliding table module-710; a tension and compression servo motor-711; a tension and compression motor-7111;

a tension and compression speed reducer-7112; pulling and pressing a fixing frame-712; pulling and pressing the coupler-713;

pulling and pressing a right bearing seat-714; a pull-press mounting seat-715; pulling and pressing a stop block-7151;

a pull-press block buffer-7152; the guide rail-7153 is pulled and pressed; a guide block-7154 is pulled and pressed;

a ball screw is pulled and pressed 716; the nut-7161 is pulled and pressed; screw-7162 is pulled and pressed; drawing and pressing the accommodating slide block-717;

pulling and pressing a signal plate-7171; pulling and pressing a left bearing seat-718; a left bearing seat cushion pad-7181 is pulled and pressed;

a pull and press slide plate-719; a pull-press fixing mechanism-720; a tension and compression fixed cylinder-721;

fixing a cylinder shaft-7211 by tension and compression; a fixed table-722 is pulled and pressed; drawing and pressing a boss-7221;

a tension-compression guide hole-7222; the accommodating groove is drawn and pressed-7223; a positioning groove-7224 is drawn and pressed;

a pair of tension and compression photoelectric sensors-7225; a tension-compression bearing hole-7226; a tension and compression cushion block-7227;

the shaft hole-7228 is drawn and pressed; tension and compression reinforcement plate-7229; pulling and pressing a movable positioning plate-723;

a tension and compression mounting hole-7231; the convex part-7232 is pulled and pressed; the guide post-7233 is pulled and pressed;

pulling and pressing the positioning column-7234; a sliding column-7235 is pulled and pressed; linear bearings-7236;

pulling and pressing the pressure head assembly-730; pulling and pressing a triangular seat-731; a tension and compression connecting plate-732;

tension and compression extension-7321; a pressure head guide rail-733 is pulled and pressed; a pressure head slider-734 is pulled and pressed;

load cell-735; a pressure head-736 is pulled and pressed; brass block-7361; brass seat through hole-7362;

a pressure head cylinder-737 is pulled and pressed; a cylinder shaft-7371 of the pressure head is pulled and pressed; the fixing thin rod-7372 is pulled and pressed;

product-740;

stationary feed end-741; product fixing trepan boring-7411; ball-stranded rubber-7412; a fixed clamp-742;

sector-shaped protrusions-743; a small convex column-744 product; a product positioning through hole-745;

a pull-press lead device-750;

pulling and pressing an origin sensor-760;

a pull-press endpoint sensor-770;

defective box-800;

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1 to 24, a ball-and-socket assembling apparatus 1000, the ball-and-socket assembling apparatus 1000 includes:

the ball hinge pressing device 900 is used for accurately pressing the ball hinge rubber 7412 into the product 740 and detecting the ball hinge rubber 7412, and the ball hinge pressing device 900 is positioned at the left part of the ball hinge assembling equipment 1000;

the ball twist static stiffness testing device 700 is used for performing tension static stiffness testing and pressure static stiffness testing on a product 740, the ball twist static stiffness testing device 700 is located on the front side of the conveying mechanism 400, and the ball twist static stiffness testing device 700 is located on the right portion of the ball twist assembling equipment 1000;

the clamping mechanism 100 is used for clamping the unassembled products 740 conveyed by the conveyor belt 410, the clamping mechanism 100 is arranged at the upper end of the conveyor belt 410, and the clamping mechanism 100 is positioned in the middle of the ball-stranding pressing device 900;

the feeding mechanism 300 is used for feeding the ball-hinged rubber to the ball-hinged pressing device 900, and the feeding mechanism 300 is abutted against the ball-hinged pressing device 900;

the feeding mechanism 300a is positioned behind the ball hinge pressing device 900 and the feeding mechanism 300, and the feeding mechanism 300a is matched with the feeding mechanism 300;

and a transfer mechanism 400 for transferring the product 740, the transfer mechanism 400 being located at a central portion penetrating the entire ball-and-mortar assembling apparatus 1000 in the left-and-right direction.

And the mechanical arm 600 is used for clamping the product 740 in the whole assembling process, and the mechanical arm 600 is arranged on the side of the conveying mechanism 400.

As shown in fig. 2 to 6 and 9 to 14, the ball hinge assembling apparatus 1000 according to the embodiment 1 includes the ball hinge pressing device 900

The positive pressure mechanism 500 comprises a fixed mounting table 590, a positive pressure guide mechanism 510, a connecting rod positioning mechanism 530, a positive pressure servo sliding table module 540 and a positive pressure head component 520, wherein the positive pressure mechanism 500 is used for pressing the ball-twisted rubber 7412 into a product 740;

the back pressure mechanism 200 comprises a back pressure limiting mechanism 230, a back pressure head assembly 240, a back pressure detection table 220, a back pressure servo sliding table module 210 and a back pressure installation table 219, and the back pressure mechanism 200 is used for accurately pressing the ball-twisted rubber 7412 back to the product 740.

As shown in fig. 9, 10 and 12, in the ball-and-socket press-fitting device 900 according to embodiment 1, the positive pressure head assembly 520 is fixed to the front end of the positive pressure servo sliding table module 540, the positive pressure servo sliding table module 540 is fixed to the front end of the first standing frame 591 of the fixed mounting table 590, the positive pressure guide mechanism 510 is fixed to the front end of the second standing frame 592 of the fixed mounting table 590, and the link positioning mechanism 530 is located below the positive pressure head assembly 520 and is fixedly disposed on the fixed mounting table 590.

As shown in fig. 9, 10 and 12, the positive pressure head assembly 520 includes a positive pressure triangle base 525, a positive pressure triangle base 524, a positive pressure triangle base 523, a positive pressure weighing sensor 522 and a positive pressure head 521, wherein the positive pressure triangle base 523, the positive pressure weighing sensor 522 and the pressure head are sequentially arranged from top to bottom.

Wherein, the positive pressure triangle base 525 is fixed on the positive pressure connecting plate 524.

As shown in fig. 12, the inner side of the positive pressure triangle base 525 is fixedly connected with the upper end of the floating joint 523, the positive pressure weighing sensor 522 is fixed at the lower end of the floating joint 523, and the positive pressure weighing sensor 522 is fixedly matched with the positive pressure head 521.

As shown in fig. 9 and 10, a vertical positive pressure head guide rail 5252 is disposed in the vertical middle of the front end of the positive pressure connecting plate 524 and inside the positive pressure triangular seat 525, a positive pressure head slider 5251 capable of sliding on the positive pressure head guide rail 5252 is disposed on the positive pressure head guide rail 5252, the rear end of the positive pressure connecting plate 524 is fixedly connected to the positive pressure accommodating slider 545 of the positive pressure servo sliding table module 540, a positive pressure reinforcing plate 5241 is disposed on the upper portion of the back surface of the positive pressure connecting plate 524, the lower end of the positive pressure reinforcing plate 5241 is fixedly connected to the upper end of the positive pressure accommodating slider 545, and the positive pressure reinforcing plate 5241 can reinforce the connection stability between the positive pressure connecting plate 524 and the positive pressure accommodating.

As shown in fig. 9 and 12, the positive pressure head 521 is fixed to the positive pressure head block 5251 and slides with the positive pressure head block 5251 on the positive pressure head rail 5252.

As shown in fig. 14, the positive pressure servo sliding table module 540 includes a positive pressure servo motor 548, a positive pressure fixing frame 546, a positive pressure coupler 547, a positive pressure upper bearing 544, a positive pressure lower bearing 5411, a positive pressure ball screw 543, a positive pressure accommodating slider 544, a positive pressure sliding plate 542, and a positive pressure mounting block 541.

The positive pressure servo motor 548 includes a positive pressure motor 5482 and a positive pressure reducer 5481.

The positive pressure coupler 547 is arranged in the positive pressure fixing frame 546, and the upper end of the positive pressure coupler 547 is matched with the positive pressure servo motor 548.

As shown in fig. 14, the positive pressure fixing frame 546 is fixed to the upper portion of the front end of the positive pressure mounting block 541, and is flush with the end surface of the positive pressure mounting block 541, the positive pressure upper bearing 544 is fixed to the lower end of the positive pressure fixing frame 546, and the upper end of the positive pressure fixing frame 546 is fixedly connected to the positive pressure servo motor 548.

A positive pressure slide plate 542 is fixed to a lower portion of a front end of the positive pressure fixing frame 546, and the positive pressure slide plate 542 is used for shielding the positive pressure ball screw 543 and the positive pressure accommodating slider 545.

Wherein the positive pressure head assembly 520 slides up and down on the front end of the positive pressure sliding plate 542.

As shown in fig. 14, the positive pressure ball screw 543 includes a positive pressure screw 5432 and a positive pressure nut 5431.

The upper end of the positive pressure ball screw 543 is matched with the positive pressure coupler 547 through the positive pressure upper bearing 544, the lower end of the positive pressure ball screw 543 is matched with the positive pressure lower bearing 5411, the lower end of the positive pressure ball screw 543 is fastened to the positive pressure mounting seat 541 through nuts, the positive pressure ball screw 543 is sleeved in the positive pressure accommodating slider 545, the positive pressure accommodating slider 545 is in interference fit with the positive pressure nut 5431, the upper portion of the positive pressure nut 5431 extends in the circumferential direction to be convex, and the positive pressure ball screw 543 is used for limiting the upward direction of the positive pressure accommodating slider 545.

As shown in fig. 14, positive pressure guide rails 5413 are disposed on both left and right sides of the middle portion of the front end of the positive pressure mounting seat 541, positive pressure guide blocks 5414 are disposed on both left and right positive pressure guide rails 5413, and the positive pressure guide blocks 5414 on both left and right positive pressure guide rails 5413 can slide up and down on the positive pressure guide rails 5413 on which they are disposed.

As shown in fig. 14, a positive pressure stop 5416 is disposed at a transverse middle portion of the front end of the positive pressure mounting seat 541, the positive pressure stop 5416 is located below the positive pressure upper bearing 544, and two positive pressure stop cushions 5415 are disposed at two corners of two sides of the front portion of the lower end of the positive pressure stop 5416.

As shown in fig. 14, two positive pressure bearing cushions 5412 are provided at the upper end of the positive pressure bearing 5411 at the left and right middle portions thereof.

As shown in fig. 14, the rear end of the positive pressure accommodating slider 545 is fixedly connected to the positive pressure guide block 5414, the positive pressure guide block 5414 drives the positive pressure accommodating slider 545 to move together when sliding on the positive pressure guide rail 5413, and positive pressure signal plates 5451 are disposed on two sides of the rear portion of the positive pressure accommodating slider 545.

After the positive pressure servo motor 548 receives a start signal, the positive pressure servo motor 548 starts to rotate and drives the positive pressure coupler 547, the positive pressure coupler 547 then drives the positive pressure ball screw 543 to transmit, the positive pressure ball screw 543 then drives the positive pressure containing slider 545 and the positive pressure guide block 5414 to move up and down on the positive pressure guide rail 5413, and the positive pressure containing slider 545 then drives the positive pressure head assembly 520 to move up and down integrally.

As shown in fig. 9 to 11, the positive pressure guide mechanism 510 includes a positive pressure guide cylinder 511, a positive pressure guide pressure head 513, and a positive pressure guide sliding table 512, wherein the positive pressure guide cylinder 511, the positive pressure guide pressure head 513, and the positive pressure guide sliding table 512 are sequentially arranged from top to bottom.

The positive pressure guide cylinder 511 is fixed on the positive pressure guide sliding table 512, and the lower end of the positive pressure guide cylinder 511 is fixedly connected with the upper end of the positive pressure guide pressure head 513.

As shown in fig. 9 to 11, the positive pressure guide ram 513 is provided with a positive pressure guide hole 5131, and the positive pressure guide hole 5131 is used for accommodating the ball-twisted rubber 7412 before positive pressure, so that the ball-twisted rubber 7412 is located above the fixed feeding end 741 of the product 740.

As shown in fig. 11, positive pressure guide rails 5121 are disposed on both left and right sides of the front end of the positive pressure guide sliding table 512, positive pressure guide sliders 5122 are disposed on both the left and right positive pressure guide rails 5121, and the positive pressure guide sliders 5122 on both the left and right positive pressure guide rails 5121 can slide up and down on the respective positive pressure guide rails 5121.

The rear side of the right end of the positive pressure guide pressure head 513 is fixed on the positive pressure guide sliding block 5122 and moves up and down along with the positive pressure guide sliding block 5122.

As shown in fig. 9, 10 and 13, the link positioning mechanism 530 includes a link positioning pillow block 531, a link positioning seat 533 and a link guide cylinder 534.

As shown in fig. 13, the middle of the upper end of the connecting rod positioning pillow block 531 is recessed downward, which is configured to limit the product to be pressed 740, the connecting rod positioning pillow block 531 is fixed on the right of the front side of the fixed mounting table 590 and located on the right of the connecting rod positioning seat 533, and the connecting rod positioning pillow block 531 and the connecting rod positioning seat 533 are arranged in a spaced manner.

As shown in fig. 9, 10 and 13, the link guide cylinder 534 is located at the lower end of the link positioning seat 533, a portion of the link guide cylinder 534 sequentially passes through the fixed mounting table 590 and the link positioning seat 533 from bottom to top, and the link guide cylinder 534 is fixed on the lower end surface of the fixed mounting table 590.

The link guide shaft 5341 of the link guide cylinder 534 is vertically retractable in the fixed mounting table 590 and the link positioning seat 533, and the link guide shaft 5341 extends out of the link positioning seat 533 to guide the press-in of the ball-and-socket rubber 7412.

As shown in fig. 13, a pair of guiding photoelectric sensors 532 is disposed at a left portion of an upper end of the connecting rod positioning seat 533 for monitoring whether a product 740 is inserted.

After the product 740 to be pressed is placed on the connecting rod positioning mechanism 530, the positive pressure guide pressure head 513 in the positive pressure guide mechanism 510 moves downwards to press the product 740 to be pressed, then the ball-hinged rubber 7412 is placed in the positive pressure guide hole 5131 of the positive pressure guide pressure head 513, then the connecting rod guide shaft 5341 in the connecting rod guide cylinder 534 extends upwards and partially penetrates through the fixed sleeve hole of the product 740, and finally the positive pressure servo sliding table module 540 drives the positive pressure head component 520 to press the ball-hinged rubber 7412 into the product 740 to be pressed.

As shown in fig. 4 and fig. 5, the back pressure head assembly 240 is fixed at the upper end of the back pressure servo sliding table module 210, the back pressure servo sliding table module 210 is fixed at the left side of the upper end of the back portion of the back pressure installation table 219, and the back pressure limiting mechanism 230 is fixed at the right side of the upper end of the back portion of the back pressure installation table 219.

As shown in fig. 4 and 5, the backpressure head assembly 240 includes a backpressure head 241 and a backpressure connection block 242, and the backpressure head 241 is fixed on the backpressure connection block 242.

As shown in fig. 5, the lower end of the back pressure connecting block 242 is fixedly connected to the upper end of the back pressure receiving sliding block 211 of the back pressure servo sliding table module 210, a back end of the lower end of the back pressure connecting block 242 is provided with a back pressure reinforcing plate 243, and the front end of the back pressure reinforcing plate 243 is fixedly connected to the back end of the back pressure receiving sliding block 211.

As shown in fig. 4 and 5, the back pressure servo sliding table module 210 includes a back pressure motor 2162, a back pressure reducer 2161, a back pressure fixing frame 214, a back pressure coupler 215, a back pressure rear bearing 213, a back pressure front bearing 2196, a back pressure ball screw 212, a back pressure accommodating slider 211, a back pressure sliding plate 218, and a back pressure mounting table 219.

Wherein, the back pressure coupler 215 is arranged inside the back pressure fixing frame 214, and the back end of the back pressure coupler 215 is matched with the back pressure servo motor 216.

Wherein, the fixed frame 214 of backpressure is fixed back the backpressure mount table 219 upper end, and with the backpressure mount table 219 rear end face parallel and level, the back pressure bearing 213 is fixed in the fixed frame 214 of backpressure is anterior, just the back pressure bearing 213 stretches out the fixed frame 214 front side of backpressure, the fixed frame 214 of backpressure rear portion with backpressure servo motor 216 fixed connection.

A back pressure slide plate 218 is fixed on the front part of the upper end of the back pressure fixing frame 214, and the back pressure slide plate 218 is used for shielding the back pressure ball screw 212 and the back pressure containing slide block 211.

As shown in fig. 4 and 5, the back pressure ball screw 212 includes a back pressure screw 2121 and a back pressure nut 2122.

The back end of the back-pressure ball screw 212 is matched with the back-pressure coupler 215 through the back-pressure rear bearing 213, the front end of the back-pressure ball screw 212 is matched with the back-pressure front bearing 2196, the front end of the back-pressure ball screw 212 and the back-pressure front bearing 2196 are fastened on the back-pressure mounting table 219 through nuts, the back-pressure ball screw 212 is sleeved in the back-pressure accommodating sliding block 211, the back-pressure accommodating sliding block 211 is in interference fit with the back-pressure nut 2122, and the back of the back-pressure nut 2122 extends in the circumferential direction to form a protrusion, so that the back-pressure accommodating sliding block 211 is limited in the backward direction on the back-pressure nut 2122.

As shown in fig. 4 and 5, the back pressure guide rails 2193 are disposed on the left and right sides of the middle portion of the upper end of the back pressure mounting table 219, the back pressure guide blocks 2194 are disposed on the front and back side back pressure guide rails 2193, the back pressure guide blocks 2194 on the front and back side back pressure guide rails 2193 slide back and forth on the corresponding back pressure guide rails 2193, and the back pressure guide blocks 2194 on the front and back side back pressure guide rails 2193 slide back and forth on the corresponding back pressure guide rails 2193 in a synchronous direction.

As shown in fig. 4 and 5, a back pressure stopper 2192 is provided at the rear upper end of the back pressure installation table 219, two back pressure stopper cushions 2191 are provided at two corners of the upper both sides of the front end surface of the back pressure stopper 2192, and the back pressure stopper 2192 is located in front of the back pressure bearing 213.

As shown in fig. 4 and 5, a back pressure front bearing 2196 is fixed at the middle part of the upper end of the back pressure mounting table 219, and two back pressure front bearing cushions 2195 are arranged at the middle parts of the left and right sides of the back end of the back pressure front bearing 2196.

As shown in fig. 5, the lower end of the backpressure accommodating slide block 211 is fixedly connected to the backpressure guide block 2194, the backpressure guide block 2194 will drive the backpressure accommodating slide block 211 to move together when sliding on the backpressure guide rails 2193, and backpressure signal plates 2111 are disposed on the left and right sides of the lower portion of the backpressure accommodating slide block 211.

When the back pressure servo motor 216 receives the start signal, the back pressure servo motor 216 starts to rotate and drives the back pressure coupler 215, the back pressure coupler 215 then drives the back pressure ball screw 212 to transmit, the back pressure ball screw 212 then drives the back pressure accommodating slider 211 and the back pressure guide block 2194 to move back and forth on the back pressure guide rail 2193, and the back pressure accommodating slider 211 then drives the back pressure head assembly 240 to move back and forth integrally.

As shown in fig. 4 and 6, the back pressure detecting seat 220 is provided on the front side of the upper end of the back pressure installation table 219.

As shown in fig. 4 and 6, a back pressure detection displacement sensor 223 is disposed at a left end of the back pressure detection seat 220.

A back pressure detection displacement signal controller 224 is arranged on the right portion of the front side of the back pressure detection seat 220, the back pressure detection displacement signal controller 224 is fixed on the back pressure installation table 219, and the back pressure detection displacement signal controller 224 is used for setting parameters of the back pressure detection displacement sensor 223.

As shown in fig. 4 and 6, a back-pressure detecting positioning post 222 is disposed at the left portion of the back end of the back-pressure detecting seat 220, and the back-pressure detecting positioning post 222 is used for being inserted into a product fixing sleeve hole 7411 to fix a product 740.

As shown in fig. 5, a back-pressure detection baffle 221 is disposed at a left portion of a rear end of the back-pressure detection seat 220, the back-pressure detection baffle 221 is located below the back-pressure detection positioning pillars 222, the back-pressure detection baffle 221 is used for supporting a fixed feeding end 741 of a product 740, and the back-pressure detection baffle 221 can position the product 740.

As shown in fig. 5, a back pressure detecting support plate 225 is disposed at the right portion of the back end of the back pressure detecting seat 220, the back pressure detecting support plate 225 is located at the same level as the back pressure detecting baffle 221, and the back pressure detecting support plate 225 is used for supporting a fixed clamping end 742 of a product 740.

Wherein, a back pressure detection proximity switch 226 is disposed at the front part of the right end of the back pressure detection support plate 225, and the back pressure detection proximity switch 226 is used for sensing whether a product 740 is placed in the back pressure detection seat 220.

As shown in fig. 4 and 5, the back pressure limiting mechanism 230 includes a back pressure limiting cylinder 233, a back pressure limiting pressure head 231, and a back pressure limiting sliding table 232, and the back pressure limiting cylinder 233, the back pressure limiting pressure head 231, and the back pressure limiting sliding table 232 are sequentially disposed from back to front.

As shown in fig. 4 and 5, the back pressure limiting cylinder 233 is fixed on the back pressure limiting sliding table 232, and the front end of the back pressure limiting cylinder 233 is fixedly connected with the back end of the back pressure limiting ram 231.

The left side and the right side of the upper end of the back pressure limiting sliding table 232 are respectively provided with a back pressure limiting rail 2321, the back pressure limiting sliding blocks 2322 are respectively arranged on the left side and the right side of the back pressure limiting rails 2321, and the back pressure limiting sliding blocks 2322 on the left side and the right side of the back pressure limiting rails 2321 can slide back and forth on the back pressure limiting rails 2321 where the back pressure limiting sliding blocks are respectively located.

As shown in fig. 4 and 5, the lower end of the back pressure limiting ram 231 is fixed on the back pressure limiting slider 2322 and slides back and forth with the back pressure limiting slider 2322.

After the product 740 with positive pressure is placed on the back pressure installation table 219, the back pressure limiting pressure head 231 in the back pressure limiting mechanism 230 moves forward to limit the product 740 with positive pressure, and then the back pressure servo sliding table module 210 drives the back pressure head assembly 240 to perform back pressure on the product 740 with positive pressure.

As shown in fig. 12, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the positive pressure head assembly 520 is provided with a load cell 522, and the load cell 522 is used for feeding back the pressure applied to the ball-and-socket rubber 7412 in real time.

As shown in fig. 9 and 10, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, a positive pressure lead rail 550 for routing is disposed on the left side of the positive pressure mechanism 500.

As shown in fig. 14, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the positive pressure servo sliding table module 540 is internally provided with a positive pressure ball screw 543.

As shown in fig. 4 to 5, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, a back pressure detection displacement sensor 223 is disposed at the left side of the back pressure detection seat 220.

Wherein, the back pressure detecting displacement sensor 223 is located at the front side of the back pressure detecting positioning column 222, and the back pressure detecting displacement sensor 223 cooperates with the back pressure detecting positioning column 222 to detect whether the back pressure displacement of the product 740 is qualified.

As shown in fig. 5, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the back pressure ball screw 212 is disposed inside the back pressure servo sliding table module 210.

As shown in fig. 5, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the back pressure photoelectric switch 250 is disposed at the left portion of the back pressure servo sliding table module 210.

The back-pressure photoelectric switch 250 is configured to feed back a start-stop signal to the back-pressure servo sliding table module 210.

As shown in fig. 9 and 10, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, a positive pressure photoelectric switch 570 is provided at a front end of a first stand 591 of the fixed mounting table 590.

The positive pressure photoelectric switch 570 is located at the right portion of the first stand 591.

The positive-voltage photoelectric switch 570 comprises a positive-voltage origin sensor 571 and a positive-voltage end point sensor 572, and the positive-voltage origin sensor 571 is located above the positive-voltage end point sensor 572.

As shown in fig. 10, when the positive pressure accommodating slider 545 moves, the positive pressure signal plate 5451 is driven to move together, and when the positive pressure signal plate 5451 moves, the positive pressure signal plate 571 passes through the positive pressure origin sensor 571 and the positive pressure end point sensor 572, so that the positive pressure origin sensor 571 and the positive pressure end point sensor 572 can sense whether the movement of the positive pressure signal plate 5451 reaches a target position, and if the movement of the positive pressure signal plate 5451 reaches the target position, the positive pressure origin sensor 571 and the positive pressure end point sensor 572 feed back a stop signal, so that the positive pressure servo sliding table module 540 stops applying a pulling force or a pressure.

Firstly, a product 740 is placed in the link positioning mechanism 530 of the positive pressure mechanism 500, the positive pressure guide mechanism 510 presses the product 740 to fix, then the ball-hinged rubber 7412 is placed in the positive pressure guide hole 5131, then the positive pressure head assembly 520 presses the ball-hinged rubber 7412 in until the ball-hinged rubber 7412 is pressed to pass through the lower end of the product 740 to expose a part, and in the process, the weighing sensor 522 feeds back the pressure applied to the ball-hinged rubber 7412 in real time;

then, the product 740 with positive pressure is placed in the back pressure detection seat 220 of the back pressure mechanism 200, the back pressure limiting mechanism 230 presses the product 740 with positive pressure to fix, then the back pressure head assembly 240 presses the ball-stranding rubber 7412, during the process of pressing the ball-stranding rubber 7412, the back pressure detection displacement sensor 223 monitors the displacement of the ball-stranding rubber 7412, and when the target position is reached, the back pressure head assembly 240 stops pressing.

Finally, the press-fitting of the ball-stranded rubber 7412 is completed.

The twisting and pressing device 900 with the above structure can accurately press the ball-twisted rubber 7412 into the product 740, and can detect whether the ball-twisted rubber 7412 is qualified.

As shown in fig. 16 to 21, the ball hinge assembling device 1000 according to embodiment 1 includes a ball hinge static stiffness testing device 700

The tension and compression pressure head assembly 730, the tension and compression pressure head assembly 730 is fixed at the upper end of the tension and compression servo sliding table module 710, the tension and compression pressure head assembly 730 is used for fixing a fixed feeding end 741 of a product 740, and the tension and compression pressure head assembly 730 is used for stretching and pushing the product 740;

the tension and compression fixing mechanism 720 is located on the left side of the tension and compression servo sliding table module 710, the tension and compression fixing mechanism 720 is used for fixing a fixing clamping end 742 of a product 740, and the tension and compression fixing mechanism 720 is matched with the tension and compression pressure head assembly 730 to tension and compress the product 740;

and the servo sliding table module 710 is pulled and pressed, and the servo sliding table module 710 is used for providing enough pulling force and pressure for the pulling and pressing pressure head assembly 730.

As shown in fig. 16 and 21, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the tension-compression pressure head assembly 730 includes a tension-compression triangle base 731, a tension-compression connecting plate 732, a tension-compression pressure head 736, and a tension-compression pressure head cylinder 737, wherein the tension-compression pressure head cylinder 737 is disposed at a front end of the tension-compression pressure head 736.

As shown in fig. 21, the tension-compression pressure head assembly 730 includes a tension-compression triangle base 731, a tension-compression connecting plate 732, a tension-compression weighing sensor 735, a tension-compression pressure head 736, and a tension-compression pressure head cylinder 737, wherein the weighing sensor 735 and the tension-compression pressure head 736 are sequentially arranged from right to left, and the tension-compression pressure head cylinder 737 is disposed at a left portion of a front end of the tension-compression pressure head 736.

The front and rear centers of the tension and compression pressure head 736 are provided with brass seats 7361, the brass seats 7361 are used for supporting a tension and compression pressure head cylinder shaft 7371, the brass seat 7361 is provided with a brass seat through hole 7362 at the center, and the brass seat through hole 7362 is used for inserting the tension and compression pressure head cylinder shaft 7371.

As shown in fig. 21, the tension-compression pressure head cylinder 737 is fixed to the tension-compression pressure head 736 by four tension-compression fixing thin rods 7372, and the tension-compression pressure head cylinder axis 7371 may extend from a brass base 7361 at the front end of the tension-compression pressure head 736 into a brass base 7361 at the rear end of the tension-compression pressure head 736. As shown in fig. 21, the tension/compression connecting plate 732 is fixed to the tension/compression receiving slider 717 via tension/compression extending portions 7321 extending from the tension/compression connecting plate 732 to the front and rear sides.

As shown in fig. 16 and 21, the front end of the tension/compression load cell 735 is electrically connected to a line.

As shown in fig. 16 and 21, the right end of the weighing sensor 735 is fixedly connected to the tension-compression triangle base 731, and the left end of the weighing sensor 735 is fixedly connected to the tension-compression pressure head 736, so as to facilitate real-time detection of the magnitude of the feedback pressure, and to make a pressure curve to be qualified or not by comparison with laboratory data.

As shown in fig. 21, a transverse tension-compression pressure head guide rail 733 is disposed at the transverse middle part of the upper end of the tension-compression connecting plate 732 and inside the tension-compression triangle base 731, a tension-compression pressure head slider 734 capable of sliding on the guide rail is disposed on the tension-compression pressure head guide rail 733, the lower end of the tension-compression connecting plate 732 is fixedly connected with the tension-compression accommodating slider 717 of the tension-compression servo sliding table module 710, a tension-compression reinforcing plate 7229 is disposed at the right part of the lower end of the tension-compression connecting plate 732, the left side of the tension-compression reinforcing plate 7229 is fixedly connected with the right end of the tension-compression accommodating slider 717, and the tension-compression reinforcing plate 7229 can reinforce the connection stability between the tension-compression connecting plate 732 and the.

As shown in fig. 21, the tension/compression pressure head 736 is fixed to the tension/compression pressure head slider 734 and slides with the tension/compression pressure head slider 734 on the tension/compression pressure head guide 733.

As shown in fig. 17, 19 and 20, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the tension-compression fixing mechanism 720 includes a tension-compression fixing cylinder 721, a tension-compression fixing stand 722 and a tension-compression movable positioning plate 723, the tension-compression fixing cylinder 721 is disposed at the left end of the tension-compression fixing stand 722, the tension-compression movable positioning plate 723 is disposed at the right end of the tension-compression fixing stand 722, and the tension-compression movable positioning plate 723 is engaged with the tension-compression fixing cylinder 721.

As shown in fig. 19 and 20, the tension/compression fixing cylinder 721 is provided with a tension/compression fixing cylinder shaft 7211, the right portion of the tension/compression fixing cylinder shaft 7211 is provided with a section of shaft having a smaller shaft diameter than the tension/compression fixing cylinder shaft 7211, and the tension/compression mounting hole 7231 of the tension/compression movable positioning plate 723 is sleeved on the section of shaft having the smaller shaft diameter, so that the tension/compression movable positioning plate 723 can move left and right along with the tension/compression fixing cylinder shaft 7211.

As shown in fig. 19 and 20, the front and rear ends of the upper portion of the tension/compression fixing stand 722 are provided with tension/compression bosses 7221, and the number of the tension/compression bosses 7221 is two.

Wherein, the middle part of drawing and pressing boss 7221 is provided with draws and presses holding tank 7223, draw and press holding tank 7223 to arrange and run through along the fore-and-aft direction draw and press boss 7221, draw and press holding tank 7223 bottom for to draw and press boss 7221 center slope to arrange, draw and press holding tank 7223 to be used for holding the fan-shaped bellying 743 of product 740 both sides.

As shown in fig. 20, a tension/compression guide hole 7222 is formed in the middle of the right end of the tension/compression boss 7221 near the center of the tension/compression boss 7221, the tension/compression guide hole 7222 is communicated with the tension/compression accommodating groove 7223, the tension/compression guide hole 7222 is formed so that a tension/compression positioning column 7234 on the tension/compression movable positioning plate 723 can pass through, and the tension/compression guide hole 7222 can guide a tension/compression guiding column 7233 on the tension/compression movable positioning plate 723.

As shown in fig. 20 and 22, a tension and compression positioning groove 7224 is further disposed on a tension and compression boss 7221 at the rear end of the tension and compression fixing table 722, one tension and compression positioning groove 7224 is provided, the tension and compression positioning groove 7224 is communicated with the tension and compression accommodating groove 7223, the tension and compression positioning groove 7224 is as deep as the bottom of the tension and compression accommodating groove 7223, and the tension and compression positioning groove 7224 is used for accommodating a small product convex column 744 on a product 740.

As shown in fig. 20 and 22, the engagement between the positioning grooves 7224 and the small product pillars 744 on the product 740 can precisely position the product 740 in the front-back direction of the fixing mechanism 720.

As shown in fig. 20 and 22, the engagement of the tension/compression accommodating groove 7223 with the scallops 743 on both sides of the product 740 can precisely position the product 740 in the left-right direction into the tension/compression fixing mechanism 720.

As shown in fig. 19 and 20, a pair of tension and compression photoelectric sensors 7225 is disposed in the middle of the left end of the tension and compression boss 7221, and the pair of tension and compression photoelectric sensors 7225 is used for sensing whether a product 740 enters the tension and compression fixing mechanism 720.

As shown in fig. 19 and 20, a tension and compression cushion block 7227 is arranged in the middle of the upper end of the tension and compression fixing table 722, the lower portion of the tension and compression cushion block 7227 is embedded in the tension and compression fixing table 722, the tension and compression cushion block 7227 is used for preventing the surface of the tension and compression fixing table 722 from being scratched on the surface of the product 740 due to the contact between the surface of the tension and compression fixing table 722 and the surface of the product 740, the tension and compression cushion block 7227 is made of a non-metal material, and in the present embodiment, the tension and compression cushion block 7227 is made of POM blue, POM raw material, which is synthetic resin, also known as polyoxymethylene resin.

As shown in fig. 19 and 20, a tension and compression shaft hole 7228 is formed in the central portion of the tension and compression fixing table 722, and the tension and compression shaft hole 7228 is used for accommodating the tension and compression fixing cylinder shaft 7211, so that the tension and compression fixing cylinder shaft 7211 can pass through the tension and compression fixing table 722.

As shown in fig. 19 and 20, tension-compression bearing holes 7226 are formed in the front and rear sides of the middle of the tension-compression fixing table 722, the tension-compression bearing holes 7226 penetrate through the tension-compression fixing table 722, linear bearings 7236(LHFC20) are arranged in the tension-compression bearing holes 7226, and the linear bearings 7236 can enable the tension-compression movable positioning plate 723 to smoothly and quickly position the product 740.

As shown in fig. 20, the tension and compression reinforcing plates 7229 are provided at the front and rear of the lower left and right sides of the tension and compression fixing table 722, and the number of the tension and compression reinforcing plates 7229 is four.

As shown in fig. 19 and 20, the front and rear sides of the upper end of the tension and compression movable positioning plate 723 are provided with tension and compression bosses 7232, a tension and compression guide column 7233 is arranged on the tension and compression boss 7232 near the center of the tension and compression movable positioning plate 723, a tension and compression positioning column 7234 is arranged on the tension and compression guide column 7233, the tension and compression guide column 7233 and the tension and compression positioning column 7234 are coaxially aligned with the tension and compression guide hole 7222, and the tension and compression guide column 7233 and the tension and compression positioning column 7234 can pass into and out of the tension and compression guide hole 7222.

The pull-press guide column 7233 is used for guiding the pull-press movable positioning plate 723 to move left and right.

The positioning posts 7234 are used for extending into the product positioning through holes 745 of the product 740, so that the positioning posts 7234 can position the product 740.

As shown in fig. 19, the front and rear corners of the lower end of the tension and compression movable positioning plate 723 are provided with tension and compression mounting holes 7231, the tension and compression mounting holes 7231 are used for mounting tension and compression sliding columns 7235, the tension and compression sliding columns 7235 are sleeved in the linear bearings 7236, and the tension and compression sliding columns 7235 can move left and right in the linear bearings 7236.

As shown in fig. 19, a tension and compression mounting hole 7231 is formed in the center of the bottom of the tension and compression movable positioning plate 723, the tension and compression mounting hole 7231 is located behind the tension and compression shaft hole 7228, the tension and compression mounting hole 7231 is aligned with the tension and compression shaft hole 7228, and the tension and compression mounting hole 7231 is used for connecting the tension and compression movable positioning plate 723 with the tension and compression fixed cylinder shaft 7211, so that the tension and compression movable positioning plate 723 can move left and right along with the tension and compression fixed cylinder shaft 7211.

When a product 740 is placed into the tension and compression fixing mechanism 720, the tension and compression accommodating grooves 7223 on the tension and compression fixing table 722 are matched with the fan-shaped protrusions 743 on the two sides of the product 740 to accurately position the left and right direction of the tension and compression fixing mechanism 720, the tension and compression positioning grooves 7224 are matched with the product small convex columns 744 on the product 740 to accurately position the front and back direction of the tension and compression fixing mechanism 720, then after the pair of tension and compression photoelectric sensors 7225 sense that the product 740 is placed, the tension and compression fixing cylinder 721 pulls the tension and compression movable positioning plate 723 to the left through the tension and compression fixing cylinder shaft 7211 to fix the product 740, after a test is finished, the product 740 is removed, and the tension and compression fixing cylinder 721 pushes the tension and compression movable positioning plate 723 to the right through the tension and compression fixing cylinder shaft 7211, and finally the test is finished.

As shown in fig. 16 to 18, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the sliding servo unit 710 includes a pull-press servo motor 711, a pull-press coupler 713, a pull-press ball screw 716, a pull-press accommodating slider 717 and a pull-press mounting seat 715, the pull-press servo motor 711, the pull-press coupler 713 and the pull-press ball screw 716 are arranged at the upper end of the pull-press mounting seat 715 from right to left, and the pull-press accommodating slider 717 is sleeved on the pull-press ball screw 716.

As shown in fig. 18, the tension/compression servo motor 711 includes a tension/compression motor 7111 and a tension/compression reducer 7112.

As shown in fig. 16 to 18, the tension/compression coupling 713 is disposed in the tension/compression fixing frame 712, and the right end of the tension/compression coupling 713 is engaged with the tension/compression servo motor 711.

As shown in fig. 18, the tension-compression fixing frame 712 is fixed to the right portion of the upper end of the tension-compression mounting seat 715, and is flush with the end surface of the tension-compression mounting seat 715, the tension-compression right bearing seat 714 is fixed to the left end of the tension-compression fixing frame 712, and the right end of the tension-compression fixing frame 712 is fixedly connected to the tension-compression servo motor 711.

A tension and compression sliding plate 719 is fixed at the left part of the upper end of the tension and compression fixing frame 712, and the tension and compression sliding plate 719 is used for shielding the tension and compression ball screw 716 and the tension and compression accommodating sliding block 717.

The tension and compression ball screw 716 comprises a tension and compression screw 7162 and a tension and compression nut 7161.

As shown in fig. 17 to 18, the right end of the tension and compression ball screw 716 is matched with the tension and compression coupling 713 through the tension and compression right bearing seat 714, the left end of the tension and compression ball screw 716 is matched with the tension and compression left bearing seat 718, the left end of the tension and compression ball screw 716 and the tension and compression left bearing seat 718 are fastened on the tension and compression mounting seat 715 through nuts, the tension and compression ball screw 716 is sleeved in the tension and compression accommodating slider 717, the tension and compression accommodating slider 717 is in interference fit with the tension and compression nut 7161, the right portion of the tension and compression nut 7161 extends in the circumferential direction to form a protrusion, and the arrangement is used for limiting the tension and compression accommodating slider 717 in the right direction.

As shown in fig. 17 to 18, the front and rear sides of the middle part of the upper end of the tension and compression mounting seat 715 are provided with tension and compression guide rails 7153, the front and rear tension and compression guide rails 7153 are provided with tension and compression guide blocks 7154, and the front and rear tension and compression guide blocks 7154 can slide back and forth on the respective tension and compression guide rails 7153.

As shown in fig. 18, a tension and compression stop 7151 is arranged at the transverse middle part of the upper end of the tension and compression mounting seat 715, tension and compression stop buffer pads 7152 are arranged at two corners of two sides of the front part of the left end of the tension and compression stop 7151, and the tension and compression stop 7151 is positioned at the left of the tension and compression right bearing seat 714.

As shown in fig. 18, a left pulling and pressing bearing seat cushion 7181 is arranged in the middle of the front side and the rear side of the right end of the left pulling and pressing bearing seat 718.

As shown in fig. 17 to 18, the lower end of the tension/compression accommodating slider 717 is fixedly connected to the tension/compression guide block 7154, the tension/compression guide block 7154 drives the tension/compression accommodating slider 717 to move together when sliding on the tension/compression guide rail 7153, and tension/compression signal plates 7171 are disposed on two sides of the lower portion of the tension/compression accommodating slider 717.

As shown in fig. 17 to 18, the tension/compression servo motor 711, the tension/compression fixing frame 712, the tension/compression coupling 713, the tension/compression right bearing seat 714, the tension/compression left bearing seat 718, the tension/compression ball screw 716, and the tension/compression accommodating slider 717 are sequentially disposed on the tension/compression mounting seat 715. After the tension and compression servo motor 711 receives a start signal, the tension and compression servo motor 711 starts to rotate and drives the tension and compression coupler 713, the tension and compression coupler 713 drives the tension and compression ball screw 716 to transmit, the tension and compression ball screw 716 drives the tension and compression accommodating slide 717 and the tension and compression guide block 7154 to move left and right on the tension and compression guide rail 7153, and the tension and compression accommodating slide 717 drives the tension and compression pressure head assembly 730 to move left and right integrally.

As shown in fig. 17 to 21, in the ball hinge assembling apparatus 1000 according to embodiment 1, the tension/compression pressure head assembly 730 includes a tension/compression load cell 735, and the tension/compression load cell 735 is used for feeding back the tension and the compression of the ball hinge rubber 7412 by the tension/compression pressure head 736.

As shown in fig. 20 to 22, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the tension and compression fixing mechanism 720 is provided with tension and compression positioning grooves 7224, and the tension and compression positioning grooves 7224 are used for accurately positioning the product 740.

As shown in fig. 20, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the tension-compression fixing mechanism 720 is provided with a tension-compression cushion 7227, and the tension-compression cushion 7227 is configured to contact with a product 740.

As shown in fig. 20, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the tension-compression fixing mechanism 720 is provided with a tension-compression photoelectric sensor 7225, and the pair of tension-compression photoelectric sensors 7225 is used for feeding back whether a product 740 is placed in the tension-compression fixing mechanism 720.

As shown in fig. 17, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, two pull-press inductive switches are disposed on the right of the front side of the pull-press servo sliding table module 710, one pull-press inductive switch is disposed on the left of the front side of the pull-press servo sliding table module 710, the two pull-press inductive switches on the right are pull-press origin inductors 760, and the one pull-press inductive switch on the left is pull-press destination inductors 770.

Wherein, draw and press the motion of holding slider 717 and drive draw and press signal plate 7171 and move together, draw and press signal plate 7171 and pass when moving draw and press initial point inductor 760 with draw and press terminal point inductor 770, thereby draw and press initial point inductor 760 with draw and press terminal point inductor 770 can respond to draw and press signal plate 7171's motion whether to reach the target location, if arrived, draw and press initial point inductor 760 with draw and press terminal point inductor 770 feedback out stop signal, make draw and press servo slip table module 710 to stop applying pulling force or pressure.

In the static stiffness test of the ball hinge static stiffness test apparatus 700 according to the present embodiment, the tension/compression accommodating slider 717 has only a slight amount of sliding displacement.

When a product 740 is placed into the ball-and-socket assembling apparatus 1000 according to the present embodiment, the tension/compression fixing cylinder 721 in the tension/compression fixing mechanism 720 pulls the tension/compression movable positioning plate 723 to the left through the tension/compression fixing cylinder shaft 7211 to fix the fixed clamping end 742 of the product 740, and at the same time, the tension/compression pressure head cylinder shaft 7371 in the tension/compression pressure head cylinder 737 extends from the brass seat 7361 at the front end of the tension/compression pressure head 736 through the product fixing sleeve hole 7411 at the fixed feeding end 741 into the brass seat 7361 at the rear end of the tension/compression pressure head 736 to fix the fixed feeding end 741 of the product 740, and then, the tension/compression servo sliding table module 710 provides a right power to the tension/compression pressure head assembly 730 to move the right to apply a static tension to the product 740, so that the tension/compression weight sensor 735 feeds back a parameter of the output static tension, then, the pull-press servo sliding table module 710 provides a leftward power to the pull-press pressure head assembly 730, so that the pull-press pressure head assembly 730 moves leftward to apply a static pressure to the product 740, the pull-press weighing sensor 735 feeds back parameters of the output static pressure, and finally, after the static stiffness test is completed, the pull-press movable positioning plate 723 and the pull-press pressure head cylinder shaft 7371 exit, and the whole process is finished.

As shown in fig. 16 to 17, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the ball-and-socket static stiffness testing device 700 further includes a pull-press lead device 750 disposed at a front side of the pull-press servo sliding table module 710, and the pull-press lead device 750 is used for installing and shielding a live line.

The ball twist static stiffness testing device 700 with the structure can be used for testing the tensile static stiffness and the pressure static stiffness of the product 740.

As shown in fig. 2 to 3, the ball-and-socket assembling apparatus 1000 according to embodiment 1 above, the clamping mechanism 100 includes

The clamping seat 110 is used for fixing the clamping seat 110, the clamping seat 110 comprises a clamping bottom plate 111 and a clamping vertical plate 115, and the clamping seat 110 is fixedly installed on the conveying mechanism 400;

the clamping cylinder 130 is fixed on the upper part of the right end of the clamping vertical plate 115;

and the clamping head 120 is used for clamping the approaching product 740, and the clamping head 120 penetrates through the clamping vertical plate 115 and is fixed at the left end of the clamping cylinder 130.

As shown in fig. 2, the clamping bottom plate 111 is fixed at the bottom right end of the clamping riser 115, a rectangular accommodating hole 113 is formed in the upper part of the clamping riser 115, and a clamping accommodating through hole 114 is formed in the lower part of the clamping riser 115;

as shown in fig. 2, the gripping cylinder 130 is fixed to the upper left end of the gripping riser 115;

the clamping head 120 is fixed to the right end of the clamping cylinder 130 through the rectangular receiving hole 113.

As shown in fig. 2 to 3, the clamping base plate 111 includes a front clamping base plate 1112 and a rear clamping base plate 1111.

As shown in fig. 2 to 3, the gripping head 120 includes a front gripping head 122 and a rear gripping head 121.

As shown in fig. 2, the upper end of the front portion of the rear clamping base plate 1111 is recessed downward, and the recessed portion is shaped like an arabic numeral 7, so that the clamping head 120 does not contact the clamping base plate 111.

Wherein the front clamping base plate 1112 and the rear clamping base plate 1111 are mirror images.

As shown in fig. 3, the clamping cylinder 130 is provided with a clamping rail 131, the clamping rail 131 is provided with a clamping slider 134, and the clamping slider 134 can slide back and forth on the clamping rail 131.

As shown in fig. 3, the grip slider 134 includes a front grip slider 133 and a rear grip slider 132.

The front clamping slider 133 and the rear clamping slider 132 are used for respectively and fixedly connecting the front clamping head 122 and the rear clamping head 121, and the front clamping slider 133 and the rear clamping slider 132 respectively drive the front clamping head 122 and the rear clamping head 121 to slide back and forth, so that the product 740 to be pressed is clamped and released.

As shown in fig. 3, the rectangular receiving hole 113 is used to receive the clamping rail 131, the front clamping slider 133, the rear clamping slider 132, the front clamping head 122, and the rear clamping head 121.

As shown in fig. 2 to 3, the clamping receiving through hole 114 is used for receiving the clamping proximity switch 112.

When the clamping proximity switch 112 monitors that the product to be pressed is conveyed between the front clamping head 122 and the rear clamping head 121, the front clamping head 122 and the rear clamping head 121 rapidly move towards the product to be pressed, so that the product to be pressed is clamped.

As shown in fig. 7 to 8, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the feeding mechanism 300 is located at the left side of the positive pressure mechanism, and the feeding mechanism 300 includes a feeding clamping device 320 and a feeding table 330.

The feeding mechanism 300 is located at the left side of the positive pressure mechanism 500, and the feeding mechanism 300 comprises a feeding lead guide rail 310, a feeding clamping device 320 and a feeding table 330;

the feeding clamping device 320 comprises a feeding cylinder 328, a feeding frame 329, a feeding clamping jaw 321 and a clamping jaw cylinder 326.

As shown in fig. 7 to 8, the feeding cylinder 328 is partially located in the feeding frame 329, the feeding cylinder 328 is fixed on the feeding table 330, and the left end of the feeding cylinder 328 is fixed at the left end of the feeding frame 329.

As shown in fig. 8, the right parts of the front and rear sides of the feeding frame 329 are provided with feeding stoppers 327, and the left part of the upper end of the feeding frame 329 is provided with a blanking through hole 322.

As shown in fig. 8, the jaw cylinder 326 is provided with a jaw guide 325, the jaw guide 325 is provided with two jaw sliders 324, the two jaw sliders 324 can slide back and forth on the jaw guide 325, and the moving directions of the two jaw sliders 324 are always opposite.

The feeding clamping jaw 321 is fixedly connected to the two clamping jaw sliding blocks 324, and the feeding clamping jaw 321 can move along with the fixed clamping jaw sliding blocks 324.

As shown in fig. 8, a feeding photoelectric sensor group 323 is arranged in the middle of the lower end of the clamping jaw, so as to monitor whether the ball-hinged rubber 7412 falls into the clamping jaw.

As shown in fig. 7 to 8, the feeding claw 321 is located below the blanking through hole 322.

As shown in fig. 7 to 8, the feeding table 330 is provided with four feeding baffles 331, the four feeding baffles 331 are respectively located at the front and rear ends of the feeding table 330, and are spaced apart from the left and right ends by a distance, the four feeding baffles 331 are mirror symmetric in the left and right directions, and the four feeding baffles 331 are used for limiting the length of the feeding frame 329 moving left and right.

As shown in fig. 8, the feeding table 330 is provided with two feeding guide rails 333, the two feeding guide rails 333 are respectively located at the front and rear sides of the upper end of the feeding table 330, and the two feeding guide rails 333 are mirror symmetric in the left and right direction.

The feeding table 330 is provided with two feeding sliders 334, and the two feeding sliders 334 are respectively located on the two feeding guide rails 333 and can respectively slide left and right on the two feeding guide rails 333.

As shown in fig. 8, the feeding table 330 is provided with a feeding pad block 332, the feeding pad block 332 is located in the middle of the upper end of the feeding table 330, the feeding pad block 332 is below the feeding clamping jaws 321, and the feeding pad block 332 is used for supporting the ball-twisted rubber 7412, so that the feeding clamping jaws 321 clamp the ball-twisted rubber 7412.

As shown in fig. 8, the feeding table 330 is provided with a feeding fixing plate 335, the feeding fixing plate 335 is located at the right portion of the upper end of the feeding table 330, and the feeding fixing plate 335 is used for fixing the feeding cylinder 328.

As shown in fig. 1, 8 and 23, in the ball-and-mortar assembling apparatus 1000 according to embodiment 1, the feeding mechanism 300a includes a vibration plate 310a and a lifter 320a, the vibration plate 310a feeds the ball-and-mortar rubber to the feeding mechanism 300, and the lifter 320a is located behind the vibration plate 310 a.

As shown in fig. 1, 8 and 23, the vibration disk 310a is provided with a straight vibration rail 311a, the straight vibration rail 311a extends forwards from the inside of the vibration disk 310a, and the front part of the straight vibration rail 311a bends downwards and extends above the blanking through hole 322, so that automatic blanking is realized into the feeding clamping jaw 321.

As shown in fig. 23, a feeding box 321a is provided behind the elevator 320 a.

When the positive pressure mechanism 500 needs to feed, the feeding clamping jaws 321 clamp the ball-hinged rubber 7412 falling from the vertical vibration rail 311a, and then the feeding air cylinder 328 drives the feeding frame 329, the feeding clamping jaws 321 and the clamping jaw air cylinder 326 to move leftwards along the feeding guide rail 333, move into the positive pressure guide hole 5131, and wait for positive pressure.

As shown in fig. 1, in the ball and socket assembling apparatus 1000 according to embodiment 1, the conveying mechanism 400 conveys the ball and socket assembling apparatus by a belt drive, and the conveying mechanism 400 includes a conveyor belt 410.

As shown in fig. 15, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the robot 600 includes a robot arm and a robot chuck.

The mechanical arm is a six-axis mechanical arm, and the type is ABB IRB 1200-7.

As shown in fig. 1, in the ball hinge assembling apparatus 1000 according to embodiment 1, a second clamping mechanism 100a and a second robot 600a are disposed behind the ball hinge static stiffness testing device 700, the second clamping mechanism 100a is located at the upper end of the middle of the conveyor 410, and the second robot 600a is located behind the second clamping mechanism 100 a.

It should be noted that in this embodiment, the model of the second robot arm 600a is the same as the model of the robot arm 600, and is not described herein again.

It should be noted that in this embodiment, the structures of the second clamping mechanism 100a and the clamping mechanism 100 are completely the same, and are not described herein again.

As shown in fig. 1, the ball-and-socket assembling apparatus 1000 according to embodiment 1, the ball-and-socket assembling apparatus 1000 further includes a defective container 800, and the defective container 800 is used for placing a defective product.

The defective tank 800 is disposed at the right of the second robot arm 600a, and the defective tank 800 is disposed at the rear of the transfer mechanism 400.

As shown in fig. 12, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the positive pressure head assembly 520 is provided with a load cell 522, and the load cell 522 is used for feeding back the pressure applied to the ball-and-socket rubber 7412.

As shown in fig. 4 to 5, in the ball and socket assembling apparatus 1000 according to embodiment 1, the back pressure detecting seat 220 is provided with a back pressure detecting displacement sensor 223 at a front end thereof.

As shown in fig. 21, in the ball-and-socket assembling apparatus 1000 according to embodiment 1, the tension-compression pressure head assembly 730 is provided with a tension-compression load cell 735, and the tension-compression load cell 735 is used for feeding back the tension and pressure applied to the ball-and-socket rubber 7412 by the tension-compression pressure head 736.

As shown in fig. 3, in the ball-and-socket joint apparatus 900 according to the embodiment 4, the clamping mechanism 100 is provided with a clamping proximity switch 112.

As shown in fig. 1, the method for assembling the ball hinge comprises the following steps:

s1, clamping the unassembled product 740 conveyed by the conveyor 410 by the clamping mechanism 100;

s2, gripping the product 740 by the robot 600 and placing the gripped product in the positive pressure mechanism 500 of the ball-and-socket press 900 to wait for positive pressure;

s3, the ball-spun rubber is fed into the positive pressure guide hole 5131 of the positive pressure mechanism 500 by the feeding mechanism 300, and then the positive pressure mechanism 500 starts to perform positive pressure;

s4, the mechanical arm 600 is used to pick up the product 740 that has been pressed by the positive pressure mechanism and place the product 740 in the back pressure mechanism 200 of the ball-twisting pressing device 900 for back pressure;

s5, the mechanical arm 600 clamps the product 740 that has been pressed back in the back-pressure mechanism back to the middle of the conveyor belt 410 away from the clamping mechanism 100, and the product is conveyed to the next link through the conveyor belt 410;

s6, clamping the back-pressed product 740 conveyed by the conveyor 410 by the second clamping mechanism 100 a;

s7, the product 740 is clamped by the mechanical arm 600 and placed in the ball-hinge static stiffness testing device 700, and a tensile force and pressure static stiffness test is carried out, if the test is qualified, the operation enters S8, and if the test is unqualified, the operation enters S9;

s8, the robotic arm 600 clamps the tested product 740 back to the right of the conveyor 410 away from the clamping mechanism 100, and the product is conveyed to the next link via the conveyor 410;

s9, the tested product 740 in the ball-and-spigot static stiffness testing apparatus 700 is picked up by the robot 600 and placed in the reject box 800.

The utility model provides a ball hank equipment 1000 can realize in the automatic product 740 of assembling of ball hank rubber 7412 to can carry out the static pressure to the ball hank rubber 7412 after the equipment and detect.

In the description of the embodiments of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the embodiments of the present invention.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. Ball-and-socket assembling device (1000), characterized in that said ball-and-socket assembling device (1000) comprises:

the ball hinge pressing device (900) is used for accurately pressing the ball hinge rubber (7412) into a product (740) and detecting the ball hinge rubber (7412), and the ball hinge pressing device (900) is positioned at the left part of the ball hinge assembling equipment (1000);

the ball twist static stiffness testing device (700) is used for performing tension static stiffness testing and pressure static stiffness testing on a product (740), the ball twist static stiffness testing device (700) is located on the front side of the conveying mechanism (400), and the ball twist static stiffness testing device (700) is located on the right portion of the ball twist assembling equipment (1000);

the clamping mechanism (100) is used for clamping the unassembled products (740) conveyed by the conveyor belt (410), the clamping mechanism (100) is arranged at the upper end of the conveyor belt (410), and the clamping mechanism (100) is positioned in the middle of the ball-stranding pressing device (900);

the feeding mechanism (300) is used for feeding the ball-stranding rubber (7412) to the ball-stranding pressing device (900), and the feeding mechanism (300) is abutted against the ball-stranding pressing device (900);

the feeding mechanism (300a), the feeding mechanism (300a) is positioned behind the ball-stranding pressing device (900) and the feeding mechanism (300), and the feeding mechanism (300a) and the feeding mechanism (300) are matched with each other;

a conveying mechanism (400) for conveying the products (740), wherein the conveying mechanism (400) is positioned at the center part penetrating through the ball hinge assembling device (1000) in the left-right direction; and

and the mechanical arm (600) is used for clamping the product (740) in the whole assembling process, and the mechanical arm (600) is arranged on the side of the conveying mechanism (400).

2. A ball-and-socket assembling apparatus (1000) according to claim 1, wherein said ball-and-socket bonding device (900) comprises:

the positive pressure mechanism (500) comprises a fixed mounting table (590), a positive pressure guide mechanism (510), a connecting rod positioning mechanism (530), a positive pressure servo sliding table module (540) and a positive pressure head assembly (520), and the positive pressure mechanism (500) is used for positively pressing the ball-stranded rubber (7412) into a product (740); and

the back pressure mechanism (200) comprises a back pressure limiting mechanism (230), a back pressure head assembly (240), a back pressure detection seat (220), a back pressure servo sliding table module (210) and a back pressure mounting table (219), and the back pressure mechanism (200) is used for reversely pressing the ball-twisted rubber (7412) into a product (740).

3. The ball-and-ream assembly apparatus (1000) according to claim 2, wherein said ball-and-ream static stiffness testing device (700) comprises:

pulling and pressing the servo sliding table module (710);

the pulling and pressing pressure head assembly (730), the pulling and pressing pressure head assembly (730) is fixed at the upper end of the pulling and pressing servo sliding table module (710), the pulling and pressing pressure head assembly (730) is used for fixing a fixed feeding end (741) of a product (740), and the pulling and pressing pressure head assembly (730) is used for stretching and pushing the product (740); and

the tension and compression fixing mechanism (720) is positioned on the left side of the tension and compression servo sliding table module (710), the tension and compression fixing mechanism (720) is used for fixing a fixing clamping end (742) of a product (740), the tension and compression fixing mechanism (720) is matched with the tension and compression pressure head assembly (730) to tension and compress the product (740),

the pulling and pressing servo sliding table module (710) is used for providing pulling force and pressure for the pulling and pressing pressure head assembly (730).

4. A ball-and-socket assembling apparatus (1000) according to claim 1, wherein said clamping mechanism (100) comprises:

the clamping seat (110) is used for fixing the clamping seat (110), the clamping seat (110) comprises a clamping bottom plate (111) and a clamping vertical plate (115), and the clamping seat (110) is fixedly arranged on the conveying mechanism (400);

the clamping cylinder (130), the clamping cylinder (130) is fixed on the upper part of the right end of the clamping vertical plate (115); and

the clamping head (120) is used for clamping the approaching product (740), and the clamping head (120) penetrates through the clamping vertical plate (115) to be fixed at the left end of the clamping cylinder (130).

5. A ball and twist assembly apparatus (1000) according to claim 2, wherein said feeding mechanism (300) is located at the left side of said positive pressure mechanism, said feeding mechanism (300) comprising a feeding gripper (320) and a feeding table (330),

the feeding mechanism (300a) comprises a vibrating disk (310a) and a lifter (320a), the vibrating disk (310a) conveys the ball-hinged rubber (7412) to the feeding mechanism (300), the lifter (320a) is positioned behind the vibrating disk (310a),

the conveying mechanism (400) conveys in a belt transmission mode, the conveying mechanism (400) comprises a conveying belt (410), and the mechanical arm (600) comprises a mechanical arm and a mechanical chuck.

6. The ball hinge assembling apparatus (1000) according to claim 1, wherein a second clamping mechanism (100a) and a second mechanical arm (600a) are arranged behind the ball hinge static stiffness testing device (700), the second clamping mechanism (100a) is located at the upper end of the middle part of the conveyor belt (410), the second mechanical arm (600a) is located behind the second clamping mechanism (100a),

the ball winch assembling equipment (1000) further comprises a defective product box (800), the defective product box (800) is used for placing defective products, and the defective product box (800) is arranged behind the conveying mechanism (400).

7. The ball-stranding assembly equipment (1000) according to claim 3, characterized in that the positive-pressure head assembly (520) is provided with a weighing sensor (522), the weighing sensor (522) is used for feeding back pressure applied to the ball-stranding rubber (7412), the front end of the back-pressure detection seat (220) is provided with a back-pressure detection displacement sensor (223), the tension-compression pressure head assembly (730) is provided with a tension-compression weighing sensor (735), the tension-compression weighing sensor (735) is used for feeding back tension and pressure applied to the ball-stranding rubber (7412) by the tension-compression pressure head (736), and the clamping mechanism (100) is provided with a clamping proximity switch (112).