Automated assembly system for a transmission and a gear meshing and housing system

Abstract

The application relates to the field of gearboxes, and discloses an automatic assembly system and a gear meshing and combining system of a gearbox, wherein the combining system comprises a robot for driving a sub-gearbox of the gearbox to move so that a sub-gearbox cover of the gearbox is on a main gearbox; a turnover clamp installed on the robot and used for clamping the sub-gearbox and driving the sub-gearbox to rotate so that the main gearbox and the sub-gearbox are closely combined; a conveying line used for conveying the main gearbox of the gearbox to move below the sub-gearbox; and a shaft system poking mechanism used for poking an input shaft of the main gearbox to rotate so that an external spline on the input shaft and an internal spline on the sub-gearbox are meshed. The force sensor is used to judge whether the spline meshing is successful, the shaft system poking mechanism is arranged, the input shaft corresponding gear is poked to drive the meshed spline to rotate, and the success rate of the gear meshing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transmission, in particular to an automatic assembly system of transmission and a gear meshing and combining system. BACKGROUND

[0002] The automobile transmission is divided into a main box and a sub-box, and the sub-box is also called clutch housing because it contains a housing and a clutch. In the automatic assembly scheme, the main box part and the sub-box part are assembled respectively, and then combined.

[0003] As shown in Figure 1 , in the combining process, the two layers of outer splines of the input shaft in the main box need to be meshed with the two layers of inner splines at the corresponding position of the clutch in the sub-box at the same time, and then the combining action can continue. At present, the common method for the assembly scheme for this working condition is to use a special lifting appliance to lift the sub-box to a suspended state, manually put the sub-box into the input shaft of the main box, rotate the sub-box, and then press it downward around to judge whether the splines are successfully meshed by feeling.

[0004] The manual gear meshing and combining scheme has a large labor intensity, and completely relies on the experience and feeling of the individual to judge, which greatly affects the efficiency and success rate of the combining. In addition, during the manual shaking and rotating process, the splines may be damaged, affecting the surface quality of the parts. In addition, in the working condition involved in the present application, when the splines of the sub-box and the main box start to mesh, the left differential of the main box and the differential cover of the left differential of the sub-box are matched, and the circumferential rotation space of the entire sub-box is very small, which greatly reduces the success rate of the spline meshing. SUMMARY

[0005] The present application aims to overcome the problems of the prior art, such as large labor intensity, low efficiency, and large damage to the surface of the parts in the manual gear meshing and combining, and provides a transmission gear meshing and combining system, which has the advantages of high automation degree, fast combining speed, high accuracy, and small damage to the surface of the parts.

[0006] In order to achieve the above-mentioned purpose, the present application provides a transmission gear meshing and combining system, which comprises:

[0007] A robot is used to move the sub-box of the transmission, so that the cover of the sub-box is on the main box;

[0008] A turnover clamp is installed on the robot, which is used to clamp and rotate the sub-box, so that the main box and the sub-box are tightly fitted;

[0009] A conveying line is used to convey the main box of the transmission to below the sub-box;

[0010] An axle system shifting mechanism is used to shift the input shaft of the main box to rotate, so that the outer spline on the input shaft and the inner spline on the sub-box are meshed.

[0011] Preferably, the turnover clamp comprises:

[0012] A crossbeam and a clamping guide rail mounted on the crossbeam;

[0013] A clamping drive mechanism is arranged in parallel below the clamping guide rail, and the clamping drive mechanism is connected with the left support and the right support respectively;

[0014] The left support and the right support are slidably mounted on the clamping guide rail at one end respectively;

[0015] The left support and the right support are provided with a left clamping jaw and a right clamping jaw at the other end respectively;

[0016] A rotary drive mechanism is mounted on the left clamping jaw, and the rotary drive mechanism is used to drive the left clamping jaw to rotate;

[0017] A sliding sleeve shaft is connected between the left clamping jaw and the right clamping jaw, and the right clamping jaw is linked with the left clamping jaw by the sliding sleeve shaft.

[0018] Preferably, two embracing drive mechanisms are arranged on the crossbeam, and the two embracing drive mechanisms are connected with the left clamping jaw and the right clamping jaw respectively, so that the left clamping jaw and the right clamping jaw embrace the sub-box after clamping.

[0019] Preferably, a flange is arranged on one side of the crossbeam, and the crossbeam is mounted on the robot through the flange.

[0020] Preferably, the closing system further comprises:

[0021] A tray is mounted on the conveying line to support the main box and move along with the conveying line to drive the main box to move;

[0022] A force sensor is mounted on the turnover clamp to measure whether the combination of the inner spline and the outer spline is completed.

[0023] Preferably, the shafting driving mechanism comprises:

[0024] A bracket;

[0025] A Z-direction actuator is vertically mounted on the bracket;

[0026] A Y-direction actuator is mounted on the movable end of the Z-direction actuator, so that the Z-direction actuator drives the Y-direction actuator to move vertically up and down;

[0027] A transverse guide rail is mounted on the movable end of the Y-direction actuator, so that the Y-direction actuator drives the transverse guide rail to move in the X direction;

[0028] A head docking cylinder is fixedly mounted on the transverse guide rail;

[0029] The profiled pushing head is slidably installed on the transverse guide rail and is driven by a pushing head butt joint air cylinder to make the profiled pushing head reciprocate along the transverse guide rail and be inserted into the helical gear of the input shaft to make the profiled pushing head rotate the input shaft when the profiled pushing head moves horizontally along the direction of the Y-direction actuator.

[0030] Preferably, the connecting part is slidably connected with the transverse guide rail, one end of the connecting part is connected with the movable end of the pushing head butt joint air cylinder, and the other end of the connecting part extends out of the transverse guide rail.

[0031] The helical gear part is obliquely arranged and the tip is conical to make the helical gear part be inserted into the helical gear of the input shaft.

[0032] Preferably, the robot comprises a six-axis mechanical arm, and the turnover clamp is installed at the movable end of the six-axis mechanical arm.

[0033] The second aspect of the present application provides an automatic assembly system of a transmission, characterized by comprising an assembly system body and the above-mentioned case closing system.

[0034] Through the above technical solution, the engagement and tooth matching action is completed by mutual communication and cooperation of the force sensor, the robot lifts the clutch housing to search up and down at high frequency; the force sensor is used to judge whether the spline engagement is successful, the shaft system driving mechanism is arranged, the corresponding gear of the input shaft is driven to rotate, and the success rate of the tooth engagement is improved.

[0035] Through cooperation of the above-mentioned multiple mechanisms, the function of multi-layer spline tooth engagement and case closing is realized, the traditional tooth matching method is to manually hold the auxiliary box and shake the auxiliary box to close the case, which is low in efficiency and success rate. The whole system of the present application is reasonably arranged and designed to avoid the working condition that the auxiliary box cannot rotate, the shaft system driving mechanism is arranged to drive the shaft system to rotate to increase the success rate of engagement, the robot searches up and down, and the force sensor is used to judge whether the engagement is successful, thereby reducing the manpower and improving the efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a structural schematic view of a transmission tooth engagement and case closing system;

[0037] Figure 2 is a structural schematic view of a shaft system driving mechanism;

[0038] Figure 3 is a front view structural schematic view of Figure 2 ;

[0039] Figure 4 is a top view structural schematic view of Figure 2 ;

[0040] Figure 5 is a structural schematic view of a turnover clamp;

[0041] Figure 6 is a side view structural schematic diagram of Figure 5 ;

[0042] Figure 7 is a connection structure schematic diagram of the main box and the auxiliary box.

[0043] Reference Signs List

[0044] 1. Robot 2. Conveyor line

[0045] 3. Crossbeam 4. Left clamping jaw

[0046] 5. Flange 6. Right clamping jaw

[0047] 7. Clamping guide rail 8. Clamping driving mechanism

[0048] 9. Left support 10. Slide sleeve shaft

[0049] 11. Right support 12. Tray

[0050] 13. Clamping driving mechanism 14. Force sensor

[0051] 15. Rotating driving mechanism 16. Bracket

[0052] 17. Z-direction actuator 18. Push head butt joint cylinder

[0053] 19. Y-direction actuator 20. Profiling push head

[0054] 21. Transverse guide rail 22. Connection part

[0055] 23. Bevel gear part 24. Main box

[0056] 25. Auxiliary box 26. Input shaft DETAILED DESCRIPTION

[0057] Figure 1 is a structure schematic diagram of a transmission gear meshing box system; Figure 2 is a structure schematic diagram of an axle system pushing mechanism; Figure 3 is a front view structural schematic diagram of Figure 2 ; Figure 4 is an upper view structural schematic diagram of Figure 2 ;

[0058] Figure 5 is a structure schematic diagram of a turnover clamp; Figure 6 is a side view structural schematic diagram of Figure 5 ; Figure 7 is a connection structure schematic diagram of the main box and the auxiliary box.

[0059] A transmission gear meshing box system can include a six-axis robot 1, a turnover clamp, a conveyor line 2, and an axle system pushing mechanism.

[0060] The robot 1 and the conveying line 2 are adjacent, the movable hand of the robot 1 is provided with a turnover clamp for clamping the sub-box 25, the conveying line 2 is used for conveying the main box 24, the conveying line 2 drives the main box 24 to move to the side of the robot 1, the robot 1 drives the sub-box 25 to move above the main box 24, and then drives the sub-box 25 to gradually move onto the main box 24.

[0061] The turnover clamp comprises a crossbeam 3, various devices are installed on the crossbeam 3, the crossbeam 3 is installed on the robot 1 through a flange 5, a clamping guide rail 7 is installed on the crossbeam 3, left and right supports 9 and 11 are slidably installed on the clamping guide rail 7 and are arranged on both sides, and the clamping guide rail 7 can limit the positions of the left and right supports 9 and 11 so that the left and right supports 9 and 11 cannot fall off and can stably slide.

[0062] Preferably, the robot 1 comprises a six-axis mechanical arm, and the turnover clamp is installed on a movable end of the six-axis mechanical arm.

[0063] A clamping driving mechanism 13 is connected with the left and right supports 9 and 11 at both ends, the clamping driving mechanism 13 is arranged in parallel with the clamping guide rail 7, and the clamping driving mechanism 13 drives the left and right supports 9 and 11 to move so that the left and right supports 9 and 11 are close to or away from each other, the left clamping jaw 4 is installed on the left support 9, the right clamping jaw 6 is installed on the right support 11, and then the left and right clamping jaws 4 and 6 are close to or away from each other, so that the left and right clamping jaws 4 and 6 clamp the sub-box 25.

[0064] A rotating driving mechanism 15 is installed on the left support 9, the rotating driving mechanism 15 drives the left clamping jaw 4 to rotate, a sliding sleeve shaft 10 is installed between the left and right clamping jaws 4 and 6, the rotating driving mechanism 15 drives the left clamping jaw 4 to rotate and drives the right clamping jaw 6 to rotate at the same time through the sliding sleeve shaft 10, and then the sub-box 25 is stably rotated.

[0065] A clamping driving mechanism 8 is installed on the crossbeam 3, after the left and right clamping jaws 4 and 6 clamp the sub-box 25, the clamping driving mechanism 8 is used to ensure the stability of the left and right clamping jaws 4 and 6 and prevent the right clamping jaw 6 from being separated from the left clamping jaw 4.

[0066] A tray 12 is arranged on the conveying line 2, the main box 24 is placed in the tray 12, the conveying line 2 drives the tray 12 to move, the tray 12 drives the main box 24 to move, and the shape of the tray 12 is matched with the shape of the main box 24, so that the main box 24 is stably supported and the stability of the main box 24 during movement is ensured.

[0067] The force sensor 14 is installed on the turnover clamp, and the robot 1 is used for adjusting the clutch housing to a closing box posture through the turnover clamp, and the force sensor 14 is used for completing meshing and tooth matching action in cooperation with the force sensor 14, and the robot lifts the clutch housing up and down to search and shake at high frequency; the force sensor 14 is used for judging whether the spline meshing is successful.

[0068] The shaft system shifting mechanism comprises a support 16, and various devices are installed on the support 16.

[0069] The Z-direction actuator 17 is installed on the support 16 and is used for driving the Y-direction actuator 19 to move vertically and adjust the height.

[0070] The Y-direction actuator 19 is installed on the support 16.

[0071] The transverse guide rail 21 is connected with the Y-direction actuator 19, so that the Y-direction actuator 19 can drive the transverse guide rail 21 to move along the horizontal direction, and the transverse guide rail 21 is vertically arranged between the Y-direction actuator 19.

[0072] The shifting head docking cylinder 18 is installed on the transverse guide rail 21 and moves together with the transverse guide rail 21.

[0073] The profiling shifting head 20 is slidably connected to the transverse guide rail 21 and is driven by the shifting head docking cylinder 18 to move along the direction of the transverse guide rail 21; under the joint action of the Z-direction actuator 17, the Y-direction actuator 19 and the transverse guide rail 21, the profiling shifting head 20 can realize spatial movement in XYZ three directions.

[0074] The profiling shifting head 20 comprises a connecting portion 22 and a helical tooth portion 23, the connecting portion 22 is arranged in a strip shape, one end is slidably connected to the guide rail, and the other end extends to the outside of the transverse guide rail 21, and the head portion of the profiling shifting head 20 is arranged as the helical tooth portion 23, so as to facilitate the helical tooth portion 23 to be inserted into the helical tooth of the input shaft 26.

[0075] The second aspect of the present application provides an automatic assembly system of a transmission, characterized by comprising an assembly system body and the closing box system.

[0076] In the closing box process, the two layers of outer splines of the input shaft 26 in the main box 24 need to be meshed with the two layers of inner splines in the corresponding position of the clutch in the auxiliary box 25 at the same time, and then the closing box action can be continued, and the current common assembly scheme for this working condition is to use a special lifting appliance to lift the auxiliary box 25 to a suspended state, manually put the auxiliary box 25 into the input shaft 26 of the main box 24, rotate the auxiliary box 25 and press downward around to judge whether the spline meshing is successful by hand feeling.

[0077] The tray 12 is the carrier for the main box 24 and the auxiliary box 25, and the conveying line 2 conveys the products to various stations for relevant assembly processes through the conveying tray 12. According to the above-mentioned problem, the shaft system driving mechanism is arranged, the corresponding gear is driven through the driving input shaft 26, the meshing spline is rotated, and the success rate of tooth meshing is improved.

[0078] The front end of the profiling driving head 20 is designed as a profiling helical gear meshing with the shaft system gear, the Z-direction actuator 17, the Y-direction actuator 19 and the driving head butt joint cylinder 18 respectively drive the profiling driving head 20 to move in three directions, so as to ensure that the profiling driving head 20 correctly meshes with the corresponding gear of the shaft system, and finally drives the shaft system to rotate within a certain range under the driving of the Y-direction actuator 19 back, so as to increase the success rate of tooth meshing between the external spline on the shaft system and the internal spline of the auxiliary box 25 clutch.

[0079] The cross beam 3 plays a supporting role, provides a carrier for the installation of the clamping guide rail 7, and is the force point of the whole gripper; the mounting flange 5 is connected with the robot flange 5; the clamping driving mechanism 8 is used to prevent the clamping jaw from loosening after the gripper clamps the workpiece; the clamping guide rail 7 is used to provide guidance and support for the clamping and loosening of the clamping jaw; the clamping driving mechanism 13 is used to provide tensioning force for clamping the workpiece; the turnover cylinder is used to provide turnover force for turning over the workpiece; the left support 9 provides rotary support for the left clamping jaw 4; the right support 11 provides rotary support for the right clamping jaw 6; the left clamping jaw 4 and the right clamping jaw 6 are used to clamp the workpiece; the sliding sleeve shaft 10 transmits the swinging force of the turnover cylinder from the left side to the right side, so that the left and right clamping jaws 6 swing consistently.

[0080] Through the above technical scheme, the engagement tooth meshing action is completed through mutual communication and cooperation with the force sensor 14, the robot lifts the clutch housing up and down to search and shake at high frequency; the force sensor 14 is used to judge whether the spline meshing is successful; the shaft system driving mechanism is arranged, the corresponding gear is driven through the driving input shaft 26, the meshing spline is rotated, and the success rate of tooth meshing is improved;

[0081] The above-mentioned multiple mechanisms cooperate to realize the function of multi-layer spline tooth meshing and case combining. The traditional tooth meshing method is to manually hold the auxiliary box 25 and shake the auxiliary box 25 to combine the case, which is low in efficiency and success rate. The present application avoids the working condition that the auxiliary box 25 cannot rotate, and for the first time sets the shaft system driving mechanism in the spline tooth meshing station of the transmission box assembly system to drive the shaft system to rotate and increase the success rate of meshing. Through the up-and-down search motion of the robot and the judgment of the force sensor 14 whether the meshing is successful, the human labor is reduced and the efficiency is improved.

[0082] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited thereto. Within the technical concept of the present application, various simple modifications can be made to the technical solutions of the present application, including that various specific technical features are combined in any suitable manner. In order to avoid unnecessary repetition, the present application does not further describe various possible combination manners. However, these simple modifications and combinations should also be regarded as the disclosed content of the present application, and all fall within the protection scope of the present application.

Claims

1. A transmission gear meshing gearbox system, characterized in that, The container closing system includes: Robot (1) is used to move the auxiliary gearbox (25) of the transmission so that the auxiliary gearbox (25) covers the main gearbox (24); A flipping fixture is installed on the robot (1) to hold the auxiliary box (25) and drive the auxiliary box (25) to rotate so that the main box (24) and the auxiliary box (25) fit together tightly; Conveyor line (2) is used to move the main gearbox (24) of the gearbox below the auxiliary gearbox (25); A shaft actuation mechanism is used to actuate the input shaft (26) of the main housing (24) to rotate so that the external spline on the input shaft (26) and the internal spline on the auxiliary housing (25) mesh. The shaft actuation mechanism includes: Support (16); The Z-axis actuator (17) is vertically mounted on the bracket (16); The Y-axis actuator (19) is installed on the movable end of the Z-axis actuator (17) so that the Z-axis actuator (17) drives the Y-axis actuator (19) to move vertically up and down. A transverse guide rail (21) is installed on the movable end of the Y-axis actuator (19) so that the Y-axis actuator (19) drives the transverse guide rail (21) to move in the X direction; The dial head is connected to the cylinder (18), which is fixedly installed on the transverse guide rail (21); The contouring dial (20) is slidably mounted on the transverse guide rail (21) and driven by the dial docking cylinder (18) so that the contouring dial (20) moves back and forth along the transverse guide rail (21) and is inserted into the helical teeth of the input shaft (26) so that when the contouring dial (20) moves horizontally in the direction of the Y-axis actuator (19), it drives the input shaft (26) to rotate.

2. The box closing system according to claim 1, characterized in that, The flipping fixture includes: A crossbeam (3) and a clamping guide rail (7) mounted on the crossbeam (3); A clamping drive mechanism (13) is arranged parallel below the clamping guide rail (7), and the clamping drive mechanism (13) is connected to the left support (9) and the right support (11) respectively. One end of the left support (9) and one end of the right support (11) are slidably mounted on the clamping guide rail (7); The other end of the left support (9) and the other end of the right support (11) are respectively provided with a left clamp (4) and a right clamp (6); A rotary drive mechanism (15) is installed on the left gripper (4), which is used to drive the left gripper (4) to rotate. A sliding shaft (10) is connected between the left jaw (4) and the right jaw (6), and the right jaw (6) is linked with the left jaw (4) by means of the sliding shaft (10).

3. The box closing system according to claim 2, characterized in that, Two clamping drive mechanisms (8) are provided on the crossbeam (3). The two clamping drive mechanisms (8) are connected to the left gripper (4) and the right gripper (6) respectively, so that the left gripper (4) and the right gripper (6) clamp the auxiliary box (25) and hold it tightly.

4. The box closing system according to claim 2, characterized in that, A flange (5) is provided on one side of the crossbeam (3), and the crossbeam (3) is mounted on the robot (1) through the flange (5).

5. The box closing system according to claim 1, characterized in that, The container closing system also includes: The pallet (12) is installed on the conveyor line (2) to support the main box (24) and moves with the conveyor line (2), thus moving the main box (24). A force sensor (14) is mounted on a flipping fixture to measure whether the meshing of the internal and external splines is complete.

6. The box closing system according to claim 1, characterized in that, The contouring dial (20) includes: The connecting part (22) is slidably connected to the transverse guide rail (21), one end of which is connected to the movable end of the dial docking cylinder (18), and the other end extends to the outside of the transverse guide rail (21); The helical tooth (23) is inclined and has a tapered tip so that the helical tooth (23) can be inserted into the helical tooth of the input shaft (26).

7. The box closing system according to claim 1, characterized in that, The robot (1) includes a six-axis robotic arm, and the flipping gripper is mounted on the movable end of the six-axis robotic arm.

8. A transmission assembly system, characterized in that, It includes the assembly system body and the gear meshing box system as described in any one of claims 1-5.

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