A planetary reducer gear rolling device

Abstract

The present invention relates to the technical field of planetary reducers, and is a planetary reducer gear rolling device, comprising a feeding device, a transfer device, and a tooling plate conveying device; the feeding device comprises a plurality of planetary wheel trays and a feeding detection mechanism; the plurality of planetary wheel trays are horizontally spaced and arranged below the feeding detection mechanism, and the feeding detection mechanism is used to detect and identify the planetary wheels; the transfer device comprises a horizontal transfer mechanism and a transfer robot; the transfer robot is used to transfer the planetary wheels on the planetary wheel trays to the tooling plate conveying device; the tooling plate conveying device comprises a tooling plate conveying mechanism and a tooling plate positioning mechanism; the tooling plate conveying mechanism is used to convey the tooling plate, and the tooling plate positioning mechanism is used to position the reducer housing on the tooling plate. The advantage of the present invention is that the device replaces manual gear rolling, saving time and labor, completing the meshing of the first, second, and third stage planetary wheels with the gear ring on the reducer housing, greatly improving the gear rolling efficiency and accuracy, and ensuring product quality.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary reducers, and in particular to a planetary reducer gear rolling device. Background Art

[0002] Planetary reducers are a widely used industrial product that can reduce motor speed while increasing output torque. They are used as supporting components in industries such as lifting, excavation, transportation, and construction.

[0003] In current production, automated planetary gearbox assembly primarily involves bearing press-fitting and retaining ring assembly. Lightweight planetary gearboxes are assembled manually by hand, followed by gear rolling. Heavier gearboxes are hoisted with a hoist and moved above the gearbox. Gear alignment is manually verified while the hoist is lowered and manipulated with a crowbar. This labor-intensive and unsafe process makes it difficult to adapt to today's demanding automated production lines. Summary of the Invention

[0004] The present invention aims to solve the technical problem that the existing planetary reducer gear rolling process requires manual operation, which is time-consuming, labor-intensive and has poor safety. It provides a planetary reducer gear rolling equipment that realizes automated operation, reduces manual work intensity, achieves labor-saving effects, improves work efficiency and ensures product quality.

[0005] For the purpose of the present invention, the following technical solutions are adopted:

[0006] A planetary reducer gear rolling device, comprising a loading device, a transfer device and a tooling plate conveying device; the loading device comprises a plurality of planetary wheel trays and a loading detection mechanism; the plurality of planetary wheel trays are horizontally spaced and arranged below the loading detection mechanism, and the loading detection mechanism is used to detect and identify the model and position of the planetary wheel on each planetary wheel tray in turn; the transfer device comprises a horizontal transfer mechanism and a transfer robot; the transfer robot is arranged on the moving part of the horizontal transfer mechanism and drives the transfer robot to move horizontally; the transfer robot is used to transfer the planetary wheel on the planetary wheel tray to the tooling plate conveying device; the tooling plate conveying device comprises a tooling plate conveying mechanism and a tooling plate positioning mechanism; the tooling plate conveying mechanism is horizontally arranged, the tooling plate positioning mechanism is located in the middle of the tooling plate conveying mechanism, and the tooling plate conveying mechanism is used to convey the tooling plate to the tooling plate positioning mechanism, and the tooling plate positioning mechanism is used to position the reducer housing on the tooling plate. This equipment replaces manual gear rolling, saving time and effort. It can automatically detect and position the first-stage, second-stage and third-stage planetary gears through the loading device, grab and transfer the planetary gears one by one through the transfer device and assemble them into the reducer housing of the tooling plate conveying device, and complete the meshing of the first-stage, second-stage and third-stage planetary gears with the gear ring on the reducer housing, greatly improving the gear rolling efficiency and accuracy, and ensuring product quality.

[0007] Preferably, the feeding detection mechanism includes a feeding detection bracket, a feeding detection drive component and a 3D visual detection module; the feeding detection bracket is composed of a crossbeam and a plurality of spaced columns; each of the planetary wheel trays is located between two adjacent columns; the feeding detection drive component is horizontally arranged on the crossbeam, and the feeding detection drive component includes a feeding detection drive motor and a detection drive conveyor belt group; the feeding detection drive motor is used to drive the conveyor belt on the detection drive conveyor belt group to rotate, and the 3D visual detection module is arranged on the conveyor belt and moves with the conveyor belt. The detection camera port of the 3D visual detection module is downwardly aligned with the planetary wheels on the planetary wheel tray, and the planetary wheels on each planetary wheel tray are detected and positioned in turn. The feeding detection drive component on the feeding detection mechanism drives the 3D visual detection module to move horizontally in the form of a combination of a motor and a conveyor belt, so that the 3D camera on the 3D visual detection module can move horizontally to detect and position the planetary wheels on each planetary wheel tray in turn, facilitating the subsequent transfer robot to perform precise grasping and transfer.

[0008] Preferably, two parallel and spaced tray limit plates are provided between two adjacent columns; the two tray limit plates are used to limit the left and right sides of the planetary wheel tray respectively. The two tray limit plates can facilitate the positioning and limiting of the planetary wheel tray when it is placed.

[0009] Preferably, the horizontal transfer mechanism includes a horizontal transfer base, a horizontal transfer slide; a horizontal transfer motor, a horizontal transfer gear, and a horizontal transfer rack; the horizontal transfer slide is slidably connected to the horizontal transfer base via a horizontal transfer slide rail; the horizontal transfer motor is longitudinally mounted on the horizontal transfer slide; the horizontal transfer gear is connected to the drive shaft of the horizontal transfer motor; the horizontal transfer rack is horizontally mounted on the horizontal transfer base, and the horizontal transfer gear meshes with the horizontal transfer rack. The horizontal transfer motor drives the horizontal transfer gear to rotate, thereby causing the horizontal transfer gear to rotate on the horizontal transfer rack, thereby causing the horizontal transfer slide to move horizontally and position on the horizontal transfer base, ultimately facilitating the transfer robot to grasp the planetary gear.

[0010] Preferably, an end picking assembly is provided on the end picking part of the transfer robot; the end picking assembly includes an end picking bracket and at least one end picking unit arranged on the end picking bracket; each end picking unit includes a motor, a reducer, a coupling, a spline shaft, a spline sleeve and an electro-permanent magnet module; the motor is arranged on the end picking bracket; the reducer is connected to the motor, and the spline shaft is connected to the rotating shaft of the reducer through a coupling; the spline sleeve is lifted and connected to the spline shaft, and a spline shaft spring is provided on the spline shaft, and the upper end of the spline shaft spring rests on the end picking bracket, and the lower end of the spline shaft spring rests on the spline sleeve; an end picking positioning sleeve is provided on the end picking bracket, and the end picking positioning sleeve is provided outside the spline sleeve and the spline shaft, and limits the spline sleeve and the spline shaft together; and the end picking positioning sleeve wraps the spline shaft spring inside; a spline sleeve sensor for detecting whether the spline sleeve is in place is provided at the lower end of the end picking positioning sleeve; the electro-permanent magnet module is used to adsorb the planetary gear. The motor on the end pickup assembly drives the reducer to rotate, which in turn drives the spline shaft to rotate through the coupling, thereby driving the corresponding center wheel installed on the spline sleeve to be inserted into the center shaft hole of the planetary wheel. Finally, the planetary wheel is adsorbed and grasped by the electro-permanent magnet module.

[0011] Preferably, the electric permanent magnet module includes a guide post bracket, a plurality of guide post limiting sleeves, a plurality of guide posts and an electric permanent magnet block; the guide post bracket is horizontally arranged on the end pick-up bracket; a plurality of guide post limiting sleeves are distributed in an array on the end pick-up bracket; each guide post is lifted and connected in each guide post limiting sleeve, and the tops of all guide posts are connected to a guide post connecting plate; the guide post bracket is provided with a guide post sensor for sensing the distance between the guide post connecting plates; the electric permanent magnet block is connected to the lower end of each guide post, and a guide post spring is provided between the electric permanent magnet block and each guide post limiting sleeve; a magnetic block through hole is provided in the middle of the electric permanent magnet block; the spline sleeve and the spline shaft are longitudinally passed through the magnetic block through hole. The guide post can facilitate the electric permanent magnet block to contact the planetary gear downward, and the guide post spring can provide buffering, and can also make the electric permanent magnet block better contact with the planetary gear, prevent hard contact from wearing the planetary gear surface, and further improve the grasping effect and grasping stability.

[0012] Preferably, a secondary positioning mechanism is also included; the secondary positioning mechanism includes a secondary positioning frame, a secondary positioning motor, an electric chuck and a plurality of planetary gear support blocks; the secondary positioning frame is located between the transfer device and the tooling plate conveying device; the electric chuck and the secondary positioning motor are respectively arranged on the secondary positioning frame; the driving shaft of the secondary positioning motor is connected to the electric chuck, and drives the claws on the electric chuck to loosen and clamp; a plurality of planetary gear support blocks are arranged on the secondary positioning frame at circumferential intervals, and each planetary gear support block is located between two adjacent claws. The secondary positioning mechanism makes it easy to place the planetary gear on the electric chuck, and the secondary positioning motor drives the claws on the electric chuck to clamp, thereby centering the planetary gear and ensuring that when it is subsequently placed in the reducer housing for gear rolling, the planetary gear can be stably, quickly and accurately engaged with the reducer housing gear ring.

[0013] Preferably, the tooling plate conveying mechanism includes a first tooling plate lifting assembly, a double-layer conveying bracket, and a second tooling plate lifting assembly; the first tooling plate lifting assembly and the second tooling plate lifting assembly are respectively located on the left and right sides of the double-layer conveying bracket, and the upper and lower layers of the double-layer conveying bracket are both provided with roller conveyor lines; the first tooling plate lifting assembly and the second tooling plate lifting assembly each include a tooling plate lifting bracket, a tooling plate lifting and conveying module, and a tooling plate lifting module; the tooling plate lifting and conveying module is lifted and connected to the tooling plate lifting bracket, and the tooling plate lifting and conveying module is horizontally conveyed by means of a motor conveyor belt group, and the tooling plate lifting module is arranged on the tooling plate lifting bracket by a lifting cylinder group, and the lifting part of the tooling plate lifting module is connected to the tooling plate lifting and conveying module, and drives the tooling plate lifting and conveying module to move back and forth on the upper and lower roller conveyor lines. Through the effect of double-layer conveying, multiple reducer housings can be transported, and the assembled reducer housings can be transported to the roller conveyor line below without manual handling, thereby improving conveying efficiency.

[0014] Preferably, the tooling plate positioning mechanism includes a tooling plate positioning bracket, a stop assembly, and a jacking and positioning assembly; the support cross plate of the tooling plate positioning bracket is located between the two roller conveyor lines; the stop assembly is arranged on the discharge end side of the support cross plate, and is used to stop the tooling plate being conveyed; the jacking and positioning assembly is connected to the tooling plate positioning bracket in an ascending and descending manner, and is used to lift and position the tooling plate. The reducer housing on the tooling plate is positioned by the stop assembly on the tooling plate positioning mechanism, and the reducer housing on the tooling plate is lifted to a specified height by the jacking and positioning assembly, making it easier to install the planetary gear into the reducer housing and complete the planetary gear rolling process.

[0015] Preferably, the stop assembly includes a stop cylinder, a stop fixed block, a stop rotating block and a stop sensor; the stop cylinder is longitudinally arranged on the supporting cross plate, and the stop fixed block is arranged on the upper fixed part of the stop cylinder; the stop rotating block is rotatably connected to the stop fixed block, and the stop rotating block is fixedly connected to the telescopic part of the stop cylinder, and the stop rotating block is rotated to stop; the stop sensor is arranged on the supporting cross plate; the jacking positioning assembly includes a jacking positioning cylinder and a jacking positioning plate; the jacking positioning cylinder is longitudinally arranged at the bottom of the supporting cross plate; the jacking positioning plate is lifted and connected above the supporting cross plate by a plurality of jacking positioning guide rods; and the telescopic rod at the top of the jacking positioning cylinder passes through the supporting cross plate and is fixedly connected to the jacking positioning plate. The stop cylinder on the stop assembly drives the stop rotating block to rotate, thereby blocking the discharge end of the tooling plate, so that the tooling plate is stopped and positioned. The jacking positioning cylinder on the jacking positioning assembly drives the jacking positioning plate to lift the tooling plate to a specified height, thereby facilitating the gear rolling installation of the planetary gear.

[0016] To sum up, the advantage of the present invention is that the equipment replaces manual gear rolling, saving time and effort, and automatically detects and positions the first-stage, second-stage and third-stage planetary gears through the loading device, and grabs and transfers the planetary gears one by one through the transfer device and assembles them into the reducer housing of the tooling plate conveying device, and completes the meshing of the first-stage, second-stage and third-stage planetary gears with the gear ring on the reducer housing, greatly improving the gear rolling efficiency and accuracy, and ensuring the overall product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the planetary reducer gear rolling device of the present invention.

[0018] Figure 2 It is a structural diagram of the feeding detection mechanism in the present invention.

[0019] Figure 3 It is a structural schematic diagram of the transfer device in the present invention.

[0020] Figure 4 It is a structural schematic diagram of the horizontal transfer mechanism in the present invention.

[0021] Figure 5 It is a structural diagram of the end pickup assembly in the present invention.

[0022] Figure 6 It is a cross-sectional view of the end pickup assembly of the present invention.

[0023] Figure 7 It is a structural diagram of the secondary positioning mechanism in the present invention.

[0024] Figure 8 It is a structural schematic diagram of the tooling plate conveying device in the present invention.

[0025] Figure 9 It is a structural schematic diagram of the tooling plate lifting assembly in the present invention.

[0026] Figure 10 It is a structural schematic diagram of the tooling plate positioning mechanism in the present invention.

[0027] Among them: 1. Loading device; 11. Planetary gear tray; 12. Loading detection mechanism; 121. Loading detection bracket; 1211. Beam; 1212. Column; 13. Loading detection drive assembly; 131. Loading detection drive motor; 132. Conveyor belt; 14. 3D visual inspection module; 15. Pallet limit plate; 2. Transfer device; 21. Horizontal transfer mechanism; 211. Horizontal transfer base; 212. Horizontal transfer slide; 213. Horizontal transfer motor; 214. Horizontal transfer gear; 215. Horizontal transfer Rack; 216, horizontal transfer slide; 22, transfer robot; 220, end pick-up unit; 23, end pick-up assembly; 231, end pick-up bracket; 24, motor; 25, reducer; 26, coupling; 27, spline shaft; 271, spline shaft spring; 272, end pick-up positioning sleeve; 28, spline sleeve; 281, spline sleeve sensor; 29, electro-permanent magnet module; 291, guide post bracket; 292, guide post limit sleeve; 293, guide post; 2931, guide post connecting plate; 294, electro-permanent magnet block; 295, guide post spring; 29 6. Magnetic block through hole; 297. Guide post sensor; 3. Tooling plate conveying device; 31. Tooling plate conveying mechanism; 311. First tooling plate lifting assembly; 312. Double-layer conveying bracket; 313. Second tooling plate lifting assembly; 314. Roller conveyor line; 315. Tooling plate lifting bracket; 316. Tooling plate lifting and conveying module; 3161. Motor conveyor belt assembly; 317. Tooling plate lifting module; 3171. Lifting cylinder assembly; 32. Tooling plate positioning mechanism; 33. Tooling plate positioning bracket; 331. Support cross plate; 34. Stop assembly; 341. Stop cylinder; 342. Stop fixed block; 343. Stop rotating block; 344. Stop sensor; 35. Lifting and positioning assembly; 351. Lifting and positioning cylinder; 352. Lifting and positioning plate; 353. Lifting and positioning guide rod; 4. Secondary positioning mechanism; 41. Secondary positioning frame; 42. Secondary positioning motor; 43. Electric chuck; 431. Clamping claw; 44. Planetary gear support block; 5. Reducer housing; 6. Third-stage planetary gear; 7. Second-stage planetary gear; 8. First-stage planetary gear; 9. Tooling plate. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] like Figure 1As shown, a planetary reducer gear rolling device includes a feeding device 1, a transfer device 2 and a tooling plate conveying device 3; the feeding device 1 includes three planetary wheel trays 11 and a feeding detection mechanism 12; the three planetary wheel trays 11 are horizontally spaced in the left and right directions below the feeding detection mechanism 12, and the feeding detection mechanism 12 is used to detect and identify the planetary wheels on each planetary wheel tray 11 in turn; the transfer device 2 includes a horizontal transfer mechanism 21 and a transfer robot 22; the transfer robot 22 is arranged on the moving part of the horizontal transfer mechanism 21, and drives the transfer robot 22 to move horizontally in the left and right directions; the transfer robot 22 is used to transfer the planetary gear on the planetary gear tray 11 to the tooling plate conveying device 3; the tooling plate conveying device 3 includes a tooling plate conveying mechanism 31 and a tooling plate positioning mechanism 32; the tooling plate conveying mechanism 31 is horizontally arranged in the left and right directions, and the tooling plate positioning mechanism 32 is located in the middle of the tooling plate conveying mechanism 31, and the tooling plate conveying mechanism 31 is used to convey the tooling plate 9 to the tooling plate positioning mechanism 32, and the tooling plate positioning mechanism 32 is used to position the tooling plate 9, thereby positioning the reducer housing 5 on the tooling plate 9, ensuring that the subsequent transfer robot 22 can accurately place the planetary gear teeth into the reducer housing 5. This equipment replaces manual gear rolling, saving time and effort. The loading device 1 is used to automatically detect and position the first-stage, second-stage and third-stage planetary gears. The transfer device 2 is used to grab and transfer the planetary gears one by one and assemble them into the reducer housing 5 of the tooling plate conveying device 3. The first-stage planetary gear 8, the second-stage planetary gear 7 and the third-stage planetary gear 6 are meshed with the gear ring on the reducer housing 5, which greatly improves the gear rolling efficiency and accuracy and ensures product quality.

[0030] like Figure 2As shown, the loading detection mechanism 12 includes a loading detection bracket 121, a loading detection drive assembly 13, and a 3D vision detection module 14. The loading detection bracket 121 is composed of a crossbeam 1211 and a plurality of spaced columns 1212. Each planetary gear tray 11 is located between two adjacent columns 1212. Two parallel and spaced tray limit plates 15 are provided between two adjacent columns 1212. The two tray limit plates 15 are respectively used to limit the left and right sides of the planetary gear tray 11. The two tray limit plates 15 facilitate the positioning and limiting of the planetary gear tray 11 when it is placed. The loading detection drive assembly 13 is horizontally arranged on the crossbeam 1211 in the left-right direction. The loading detection drive assembly 13 includes a loading detection drive motor 131 and a detection drive conveyor belt group; the loading detection drive motor 131 is used to drive the conveyor belt 132 on the detection drive conveyor belt group to rotate, and the 3D visual detection module 14 is arranged on the conveyor belt 132 and moves with the conveyor belt 132. The detection camera port of the 3D visual detection module 14 is downwardly aligned with the planetary gear on the planetary gear tray 11, and the planetary gear on each planetary gear tray 11 is detected and positioned in turn to determine the model and position coordinates of the planetary gear. The loading detection drive assembly 13 on the loading detection mechanism 12 drives the 3D visual detection module 14 to move horizontally in the left-right direction in the form of a combination of a motor and a conveyor belt, so that the 3D camera on the 3D visual detection module 14 can move horizontally to detect and position the planetary gear on each planetary gear tray 11 in turn, so as to facilitate the subsequent transfer robot 22 to perform precise grasping and transfer.

[0031] like Figure 3 and Figure 4 As shown, the horizontal transfer mechanism 21 includes a horizontal transfer base 211, a horizontal transfer slide 212, a horizontal transfer motor 213, a horizontal transfer gear 214, and a horizontal transfer rack 215. The horizontal transfer slide 212 is slidably connected to the horizontal transfer base 211 via a horizontal transfer rail 216. The horizontal transfer motor 213 is longitudinally mounted on the horizontal transfer slide 212. The horizontal transfer gear 214 is connected to the drive shaft of the horizontal transfer motor 213. The horizontal transfer rack 215 is horizontally mounted on the horizontal transfer base 211 and meshes with the horizontal transfer gear 214. The horizontal transfer motor 213 drives the horizontal transfer gear 214 to rotate, thereby causing the horizontal transfer gear 214 to rotate on the horizontal transfer rack 215, thereby causing the horizontal transfer slide 212 to move horizontally and position horizontally on the horizontal transfer base 211, ultimately facilitating the transfer robot 22 to grasp the planetary gear.

[0032] like Figure 5 and Figure 6As shown, an end picking assembly 23 is provided on the end picking part 220 of the transfer robot 22; the end picking assembly 23 includes an end picking bracket 231 and two end picking units horizontally symmetrically arranged on the end picking bracket 231; each end picking unit includes a motor 24, a reducer 25, a coupling 26, a spline shaft 27, a spline sleeve 28 and an electro-permanent magnet module 29; the motor 24 is arranged on the end picking bracket 231; the reducer 25 is connected to the motor 24, and the spline shaft 27 is connected to the rotating shaft of the reducer 25 through the coupling 26; the spline sleeve 28 is connected to the spline shaft 27 for lifting, and a spline shaft spring 271 is provided on the spline shaft 27, and the upper end of the spline shaft spring 271 is against the end picking bracket 231, and the lower end of the spline shaft spring 271 is against the spline sleeve 28, which can ensure that it plays a shock-absorbing role when inserted into the planetary gear shaft hole, ensuring better positioning. The end-pickup bracket 231 is provided with an end-pickup positioning sleeve 272. The end-pickup positioning sleeve 272 is mounted on the outside of the spline sleeve 28 and the spline shaft 27, and the spline sleeve 28 and the spline shaft 27 are restrained together. The end-pickup positioning sleeve 272 also encloses the spline shaft spring 271. The end-pickup positioning sleeve 272 further stabilizes the installation of the spline sleeve 28 and the spline shaft 27, ensuring that the two are coaxially arranged. The lower end of the end-pickup positioning sleeve 272 is provided with a spline sleeve sensor 281 for detecting whether the spline sleeve 28 is in place. The electro-permanent magnet module 29 is used to attract the planetary gear. The motor 24 on the end-pickup assembly 23 drives the reducer 25 to rotate, so that the reducer 25 drives the spline shaft 27 to rotate through the coupling 26, thereby driving the corresponding center wheel installed on the spline sleeve 28 to be inserted into the center axis hole of the planetary gear. Finally, the planetary gear is attracted and captured by the electro-permanent magnet module 29.

[0033] like Figure 5 and Figure 6 As shown, the electric permanent magnet module 29 includes a guide post bracket 291, multiple guide post limit sleeves 292, multiple guide posts 293 and an electric permanent magnet block 294; the guide post bracket 291 is horizontally arranged on the end pick-up bracket 231; multiple guide post limit sleeves 292 are arranged in an array on the end pick-up bracket 231; each guide post 293 is connected to each guide post limit sleeve 292 by a lifting mechanism, and the tops of all guide posts 293 are connected to a guide post connecting plate 2931; a guide post sensor 297 for sensing the distance between the guide post connecting plate 2931 is provided on the guide post bracket 291; the electric permanent magnet block 294 is connected to the lower end of each guide post 293, and a guide post spring 295 is provided between the electric permanent magnet block 294 and each guide post limit sleeve 292; a magnetic block through hole 296 is provided in the middle of the electric permanent magnet block 294; the spline sleeve 28 and the spline shaft 27 are longitudinally inserted into the magnetic block through hole 296. The guide column 293 can facilitate the downward contact of the electro-permanent magnet block 294 with the planetary gear, and the guide column spring 295 can provide buffering. At the same time, it can also enable the electro-permanent magnet block 294 to better contact with the planetary gear, preventing hard contact from wearing the planetary gear surface, and further improving the grasping effect and grasping stability.

[0034] like Figure 1 and Figure 7 As shown, it also includes a secondary positioning mechanism 4; the secondary positioning mechanism 4 includes a secondary positioning frame 41, a secondary positioning motor 42, an electric chuck 43 and a plurality of planetary gear support blocks 44; the secondary positioning frame 41 is located between the transfer device 2 and the tooling plate conveying device 3; the electric chuck 43 and the secondary positioning motor 42 are respectively arranged on the secondary positioning frame 41; the driving shaft of the secondary positioning motor 42 is connected to the electric chuck 43, and drives the claws 431 on the electric chuck 43 to loosen and clamp; a plurality of planetary gear support blocks 44 are arranged on the secondary positioning frame 41 at intervals in the circumference, and each planetary gear support block 44 is located between two adjacent claws 431. The secondary positioning mechanism 4 makes it easy to place the planetary gear on the electric chuck 43, and the secondary positioning motor 42 drives the claws 431 on the electric chuck 43 to clamp, thereby centering the planetary gear and ensuring that when it is subsequently placed in the reducer housing 5 for gear rolling, it can stably, quickly and accurately engage with the gear ring of the reducer housing 5.

[0035] like Figure 8 and Figure 9 As shown, the tooling plate conveying mechanism 31 includes a first tooling plate lifting component 311, a double-layer conveying bracket 312 and a second tooling plate lifting component 313; the first tooling plate lifting component 311 and the second tooling plate lifting component 313 are respectively located on the left and right sides of the double-layer conveying bracket 312, and the upper and lower layers of the double-layer conveying bracket 312 are both provided with roller conveying lines 314; the first tooling plate lifting component 311 and the second tooling plate lifting component 313 both include a tooling plate lifting bracket 315, a tooling plate lifting and conveying module 316 and a tooling plate lifting component The tooling plate lifting and conveying module 316 is connected to the tooling plate lifting bracket 315. The tooling plate lifting and conveying module 316 realizes horizontal conveyance in the left and right directions through the motor conveyor group 3161. The tooling plate lifting module 317 is set on the tooling plate lifting bracket 315 by the lifting cylinder group 3171. The lifting part of the tooling plate lifting module 317 is connected to the tooling plate lifting and conveying module 316, and drives the tooling plate lifting and conveying module 316 to move back and forth between the upper and lower roller conveyor lines 314. Through the double-layer conveying effect, multiple reducer housings 5 ​​can be transported, and the assembled reducer housings 5 ​​can be transported to the lower roller conveyor line 314 without manual handling, thereby improving conveying efficiency.

[0036] like Figure 1 and Figure 10As shown, the tooling plate positioning mechanism 32 includes a tooling plate positioning bracket 33, a stop assembly 34, and a jacking and positioning assembly 35; the support cross plate 331 of the tooling plate positioning bracket 33 is located between the two roller conveyor lines 314; the stop assembly 34 is set on the discharge end side of the support cross plate 331, and the stop assembly 34 is used to stop the tooling plate 9 being conveyed; the jacking and positioning assembly 35 is connected to the tooling plate positioning bracket 33 by a lifting mechanism, and the jacking and positioning assembly 35 is used to lift and position the tooling plate 9. The reducer housing 5 on the tooling plate 9 is positioned by the stop assembly 34 on the tooling plate positioning mechanism 32, and the reducer housing 5 on the tooling plate 9 is lifted to a specified height by the jacking and positioning assembly 35, so that the planetary gear can be easily installed into the reducer housing 5 to complete the planetary gear rolling process.

[0037] like Figure 10 As shown, the stop assembly 34 includes a stop cylinder 341, a stop fixed block 342, a stop rotating block 343 and a stop sensor 344; the stop cylinder 341 is longitudinally arranged on the supporting cross plate 331, and the stop fixed block 342 is arranged on the upper fixed part of the stop cylinder 341; the stop rotating block 343 is rotatably connected to the stop fixed block 342, and the stop rotating block 343 is fixedly connected to the telescopic part of the stop cylinder 341, and the stop rotating block 343 is realized. The rotation stops; the stop sensor 344 is arranged on the supporting cross plate 331; the lifting and positioning assembly 35 includes a lifting and positioning cylinder 351 and a lifting and positioning plate 352; the lifting and positioning cylinder 351 is arranged longitudinally at the bottom of the supporting cross plate 331; the lifting and positioning plate 352 is connected to the top of the supporting cross plate 331 by multiple lifting and positioning guide rods 353; and the telescopic rod at the top of the lifting and positioning cylinder 351 passes through the supporting cross plate 331 and is fixedly connected to the lifting and positioning plate 352. The stop cylinder 341 on the stop assembly 34 drives the stop rotation block 343 to rotate, thereby blocking the discharge end of the tooling plate 9, so that the tooling plate 9 is stopped and positioned. The lifting and positioning cylinder 351 on the lifting and positioning assembly 35 drives the lifting and positioning plate 352 to lift the tooling plate 9 to a specified height, thereby facilitating the gear rolling installation of the planetary gear.

[0038] When the device is working, a person or a robot first places the first-stage planetary gear 8, the second-stage planetary gear 7, and the third-stage planetary gear 6 in an orderly array on the three planetary gear trays 11, ensuring that the planetary gears do not overlap and that each planetary gear tray 11 is limited between two parallel tray limit plates 15; ensuring that the planetary gear trays 11 are placed stably and do not shake; the feeding detection drive motor 131 in the feeding detection drive assembly 13 drives the conveyor belt 132 to move, thereby driving the 3D visual inspection module 14 to sequentially detect and determine the model and position coordinates of the planetary gears on the three planetary gear trays 11 to ensure that the detection is correct;

[0039] The horizontal transfer motor 213 on the horizontal transfer mechanism 21 drives the horizontal transfer gear 214 to rotate, thereby causing the horizontal transfer gear 214 to rotate on the horizontal transfer rack 215, thereby causing the horizontal transfer slide 212 to move horizontally in the left and right directions on the horizontal transfer base 211. According to the coordinates of the 3D vision detection module 14, the end pickup assembly 23 on the transfer robot 22 is first moved to the top of the planetary wheel tray 11 at the third-stage planetary wheel 6;

[0040] When the end pickup assembly 23 is adsorbed, the motor 24 starts to rotate slowly, and is transmitted to the spline shaft 27 through the reducer 25 and the coupling 26, and finally to the spline sleeve 28, so that the corresponding central wheel installed on the spline sleeve 28 is inserted into the shaft hole of the three-stage planetary gear 6; after insertion and positioning, the end pickup assembly 23 is driven by the transfer robot 22 to slowly descend to the specified position, so that the spline shaft 27 continues to descend, thereby compressing the spline shaft spring 271, and at this time the spline sleeve sensor 281 also detects the spline The shaft 27 is meshed with the spline sleeve 28 and continues to descend through the end pickup assembly 23 until the electro-permanent magnet block 294 contacts the third-stage planetary gear 6. During the end pickup assembly 23, the electro-permanent magnet block 294 contacts and squeezes the third-stage planetary gear 6, causing the guide post 293 to move upward under the action of the guide post spring 295. The guide post sensor 297 detects the distance from the guide post connecting plate 2931 and transmits a signal to the electro-permanent magnet block 294. The electro-permanent magnet block 294 is then energized to attract the third-stage planetary gear 6.

[0041] After adsorption, the three-stage planetary gear 6 is transferred to the planetary gear support block 44 on the secondary positioning mechanism 4, and the electric chuck 43 is driven by the secondary positioning motor 42 to close and clamp the three-stage planetary gear 6 for centering; after centering, the electric chuck 43 is released;

[0042] The transfer robot 22 transports the three-stage planetary gear 6 to the top of the tooling plate positioning mechanism 32. Before the transfer robot 22 transports it, the reducer housing 5 is placed on the tooling plate 9 by manual or mechanical means. After completing the front-end assembly process, the tooling plate 9 is transported to the top of the jacking positioning plate 352 of the tooling plate positioning mechanism 32 by the upper roller conveyor line 314 on the tooling plate conveying mechanism 31. The tooling plate 9 is stopped by the stop cylinder 341, and after the tooling plate 9 is detected by the stop sensor 344, the tooling plate 9 on the jacking positioning plate 352 is lifted to a specified height by the jacking positioning cylinder 351. After the reducer housing 5 reaches the specified height, it waits for the installation of the planetary gear.

[0043] The transfer robot 22 carries the three-stage planetary gear 6 to the reducer housing 5, and the motor 24 starts to rotate slowly, which is transmitted to the spline shaft 27 through the reducer 25 and the coupling 26, and finally to the spline sleeve 28. The transfer robot 22 drives the end pick-up assembly 23 to slowly descend to the specified position, so that the spline shaft 27 continues to descend, thereby compressing the spline shaft spring 271. At this time, the spline sleeve sensor 281 also detects that the spline shaft 27 is engaged with the spline sleeve 28, and the three-stage planetary gear 6 is installed into the reducer. Inside the reducer housing 5, the guide post sensor 297 detects the distance from the guide post connecting plate 2931, confirming that the three-stage planetary gear 6 has engaged with the gear ring of the reducer housing 5. The end pick-up assembly 23 descends again, and the transfer robot 22 twists around the center wheel. Then, the center gear ring of the three-stage planetary gear 6 and the gear ring of the reducer housing 5 engage. The guide post sensor 297 again senses the distance from the guide post connecting plate 2931, confirming that the three-stage planetary gear 6 is installed in place; the permanent magnet block 294 loses power, and the transfer robot 22 resets.

[0044] Repeat the above steps to install the secondary planetary gear 7 and the primary planetary gear 8 into the reducer housing 5 in sequence.

[0045] To sum up, the advantage of the present invention is that the equipment replaces manual gear rolling, saving time and effort, and automatically detects and positions the first-stage, second-stage and third-stage planetary gears through the loading device 1, and grabs and transfers the planetary gears one by one through the transfer device 2 and assembles them into the reducer housing 5 of the tooling plate conveying device 3, and completes the meshing of the first-stage planetary gear 8, the second-stage planetary gear 7, and the third-stage planetary gear 6 with the gear ring on the reducer housing 5, greatly improving the gear rolling efficiency and accuracy, and ensuring product quality.

[0046] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A planetary reducer gear rolling device, characterized in that: The invention comprises a feeding device (1), a transfer device (2) and a tooling plate conveying device (3); the feeding device (1) comprises a plurality of planetary wheel trays (11) and a feeding detection mechanism (12); the plurality of planetary wheel trays (11) are horizontally spaced and arranged below the feeding detection mechanism (12); the feeding detection mechanism (12) is used to detect and identify the model and position of the planetary wheel on each planetary wheel tray (11) in turn; the transfer device (2) comprises a horizontal transfer mechanism (21) and a transfer robot (22); the transfer robot (22) is arranged on the moving part of the horizontal transfer mechanism (21) and drives the transfer robot (22) to move the planetary wheel trays (11) and ... device (2 ) moves horizontally; the transfer robot (22) is used to transfer the planetary gear on the planetary gear tray (11) to the tooling plate conveying device (3); the tooling plate conveying device (3) includes a tooling plate conveying mechanism (31) and a tooling plate positioning mechanism (32); the tooling plate conveying mechanism (31) is horizontally arranged, the tooling plate positioning mechanism (32) is located in the middle of the tooling plate conveying mechanism (31), and the tooling plate conveying mechanism (31) is used to sequentially convey the tooling plate for placing the reducer housing (5) to the tooling plate positioning mechanism (32), and the tooling plate positioning mechanism (32) is used to position the reducer housing (5) on the tooling plate; An end-pickup assembly (23) is provided on the end-pickup portion (220) of the transfer robot (22); the end-pickup assembly (23) comprises an end-pickup bracket (231) and at least one end-pickup unit provided on the end-pickup bracket (231); each end-pickup unit comprises a motor (24), a reducer (25), a coupling (26), a spline shaft (27), a spline sleeve (28) and an electro-permanent magnet module (29); the motor (24) is provided on the end-pickup bracket ( 231); the reducer (25) is connected to the motor (24), and the spline shaft (27) is connected to the rotating shaft of the reducer (25) through a coupling (26); the spline sleeve (28) is connected to the spline shaft (27) in a lifting manner, and the spline shaft (27) is provided with a spline shaft spring (271) on the outer sleeve, and the upper end of the spline shaft spring (271) is against the end pick-up bracket (231), and the lower end of the spline shaft spring (271) is against the spline sleeve (28); The end pick-up bracket (231) is provided with an end pick-up positioning sleeve (272), which is sleeved outside the spline sleeve (28) and the spline shaft (27) and limits the spline sleeve (28) and the spline shaft (27) together; and the end pick-up positioning sleeve (272) wraps the spline shaft spring (271) inside; a spline sleeve sensor (272) for detecting whether the spline sleeve (28) is in place is provided at the lower end of the end pick-up positioning sleeve (272). 81); the electro-permanent magnet module (29) is arranged on the end pick-up bracket (231) and is used to adsorb the planetary gear; the motor (24) on the end pick-up assembly (23) drives the reducer (25) to rotate, so that the reducer (25) drives the spline shaft (27) to rotate through the coupling (26), and then drives the corresponding center wheel installed on the spline sleeve (28) to be inserted into the center shaft hole of the planetary gear, and finally the planetary gear is adsorbed and captured by the electro-permanent magnet module (29); The electric permanent magnet module (29) comprises a guide post bracket (291), a plurality of guide post limiting sleeves (292), a plurality of guide posts (293) and an electric permanent magnet block (294); the guide post bracket (291) is horizontally arranged on the end pick-up bracket (231); a plurality of guide post limiting sleeves (292) are arranged in an array and distributed on the end pick-up bracket (231); each guide post (293) is connected to each guide post limiting sleeve (292) in a lifting manner, and the tops of all the guide posts (293) are connected to a guide post connecting plate (2931). The guide post bracket (291) is provided with a guide post sensor (297) for sensing the distance of the guide post connecting plate (2931); the electric permanent magnet block (294) is connected to the lower end of each guide post (293), and a guide post spring (295) is provided between the electric permanent magnet block (294) and each guide post limit sleeve (292); a magnetic block through hole (296) is provided in the middle of the electric permanent magnet block (294); the spline sleeve (28) and the spline shaft (27) are longitudinally inserted into the magnetic block through hole (296).

2. The planetary reducer gear rolling device according to claim 1, characterized in that: The feeding detection mechanism (12) comprises a feeding detection bracket (121), a feeding detection drive assembly (13) and a 3D visual detection module (14); the feeding detection bracket (121) is composed of a crossbeam (1211) and a plurality of horizontally spaced columns (1212); each of the planetary wheel trays (11) is located between two adjacent columns (1212); the feeding detection drive assembly (13) is horizontally arranged on the crossbeam (1211), and the feeding detection drive assembly (13) is used to drive the 3D visual detection module (14) along the crossbeam (1211). 11) moves, the feeding detection drive assembly (13) includes a feeding detection drive motor (131) and a detection drive conveyor belt group; the feeding detection drive motor (131) is used to drive the conveyor belt (132) on the detection drive conveyor belt group to rotate, the 3D visual detection module (14) is set on the conveyor belt (132) and moves together with the conveyor belt (132), the detection camera port of the 3D visual detection module (14) is downwardly aligned with the planetary gear on the planetary gear tray (11), and the planetary gear on each planetary gear tray (11) is detected and positioned in turn.

3. The planetary reducer gear rolling device according to claim 2, characterized in that: Two parallel and spaced tray limiting plates (15) are provided between two adjacent columns (1212); the two tray limiting plates (15) are respectively used to limit the horizontal ends of the planetary wheel tray (11).

4. The planetary reducer gear rolling device according to claim 1, characterized in that: The horizontal transfer mechanism (21) comprises a horizontal transfer base (211), a horizontal transfer slide (212); a horizontal transfer motor (213), a horizontal transfer gear (214) and a horizontal transfer rack (215); the horizontal transfer slide (212) is slidably connected to the horizontal transfer base (211) via a horizontal transfer slide rail (216); the horizontal transfer motor (213) is longitudinally arranged on the horizontal transfer slide (212); the horizontal transfer gear (214) is connected to a drive shaft of the horizontal transfer motor (213); the horizontal transfer rack (215) is horizontally arranged on the horizontal transfer base (211), and the horizontal transfer gear (214) is meshed with the horizontal transfer rack (215).

5. The planetary reducer gear rolling device according to claim 1, characterized in that: The invention also includes a secondary positioning mechanism (4); the secondary positioning mechanism (4) includes a secondary positioning frame (41), a secondary positioning motor (42), an electric chuck (43) and a plurality of planetary gear support blocks (44); the secondary positioning frame (41) is located between the transfer device (2) and the tooling plate conveying device (3); the electric chuck (43) and the secondary positioning motor (42) are respectively arranged vertically on the secondary positioning frame (41); the driving shaft of the secondary positioning motor (42) is connected to the electric chuck (43) and drives the claws (431) on the electric chuck (43) to loosen and clamp; the plurality of planetary gear support blocks (44) are arranged on the secondary positioning frame (41) at intervals in the circumferential direction, and each planetary gear support block (44) is located between two adjacent claws (431).

6. The planetary reducer gear rolling device according to claim 1, characterized in that: The tooling plate conveying mechanism (31) comprises a first tooling plate lifting assembly (311), a double-layer conveying bracket (312) and a second tooling plate lifting assembly (313); the first tooling plate lifting assembly (311) and the second tooling plate lifting assembly (313) are respectively located at two ends of the double-layer conveying bracket (312), and the upper and lower layers of the double-layer conveying bracket (312) are both provided with roller conveying lines (314); the first tooling plate lifting assembly (311) and the second tooling plate lifting assembly (313) each comprise a tooling plate lifting bracket (315), a tooling plate lifting and conveying module (316) and a tooling plate lifting module (317). Block (317); the tooling plate lifting and conveying module (316) is lifted and connected to the tooling plate lifting bracket (315); the tooling plate lifting and conveying module (316) realizes horizontal conveying by means of a motor conveyor belt group (3161); the tooling plate lifting module (317) is arranged on the tooling plate lifting bracket (315) by means of a lifting cylinder group (3171), and the lifting part of the tooling plate lifting module (317) is connected to the tooling plate lifting and conveying module (316), and drives the tooling plate lifting and conveying module (316) to move back and forth on the upper and lower roller conveyor lines (314).

7. The planetary reducer gear rolling device according to claim 6, characterized in that: The tooling plate positioning mechanism (32) comprises a tooling plate positioning bracket (33), a stopping assembly (34) and a lifting and positioning assembly (35); the supporting transverse plate (331) of the tooling plate positioning bracket (33) is located between the two roller conveyor lines (314); the stopping assembly (34) is arranged on the discharge end side of the supporting transverse plate (331), and the stopping assembly (34) is used to stop the tooling plate being conveyed; the lifting and positioning assembly (35) is connected to the tooling plate positioning bracket (33) in a lifting manner, and the lifting and positioning assembly (35) is used to lift and position the tooling plate.

8. The planetary reducer gear rolling device according to claim 7, characterized in that: The stop assembly (34) comprises a stop cylinder (341), a stop fixing block (342), a stop rotating block (343), and a stop sensor (344); the stop cylinder (341) is longitudinally arranged on the supporting horizontal plate (331), and the stop fixing block (342) is arranged on the upper fixing portion of the stop cylinder (341); the stop rotating block (343) is rotatably connected to the stop fixing block (342), and the stop rotating block (343) is fixedly connected to the telescopic portion of the stop cylinder (341), thereby realizing the stop rotating block (343) The rotation stops; the stop sensor (344) is arranged on the supporting transverse plate (331); the lifting and positioning assembly (35) includes a lifting and positioning cylinder (351) and a lifting and positioning plate (352); the lifting and positioning cylinder (351) is arranged longitudinally at the bottom of the supporting transverse plate (331); the lifting and positioning plate (352) is connected to the top of the supporting transverse plate (331) by a plurality of lifting and positioning guide rods (353); and the telescopic rod at the top of the lifting and positioning cylinder (351) passes through the supporting transverse plate (331) and is fixedly connected to the lifting and positioning plate (352).

Images