Full-automatic assembly production line for speed reducer

Abstract

The application discloses a kind of full-automatic assembly production lines of speed reducer, including conveyor, one end of conveyor is start end, the other end is terminal, visual positioning tray loading station is provided at the start end of conveyor, visual positioning tray loading station includes shell transfer manipulator;Discharge mechanism is provided at the terminal of conveyor;Bearing heating machine, second pressing machine, clamp spring loading machine, first oil seal loading machine, oil injection machine, sealing washer loading machine, third pressing machine, automatic screw driver and second oil seal loading machine are sequentially provided along the conveying direction of conveyor;No. 1 pressing machine is provided beside the start end of conveyor, bearing loading assembly is provided beside no. 1 pressing machine;Multiple gear loading assembly is provided beside the second pressing machine;No. 4 pressing machine is provided beside the conveyor and before corresponding third pressing machine, second bearing loading assembly and end cover loading group are provided beside no. 4 pressing machine, and the application can complete the assembly of each component without manual intervention.

Description

Technical Field

[0001] This invention belongs to the field of speed reducer assembly technology, and more specifically relates to a fully automated speed reducer assembly production line. Background Technology

[0002] A speed reducer is an independent component consisting of gear drives, worm drives, or gear-worm drives enclosed in a rigid housing. It is commonly used as a speed reduction transmission device between a prime mover and a driven machine. It plays a role in matching speeds and transmitting torque between the prime mover and the driven machine or actuator, and its applications are extremely widespread in modern machinery.

[0003] For example, Chinese Patent CN207534333U discloses an RV reducer assembly line, including a ring conveyor line. The loading and unloading areas of the ring conveyor line are respectively equipped with loading hoisting equipment and unloading hoisting equipment. The ring conveyor line is provided with a first automatic grease applicator, a first pressing machine, a second pressing machine, a second automatic grease applicator, a third automatic grease applicator, a third pressing machine, a tightening machine, a fourth automatic grease applicator, a fourth pressing machine, and a turning device in sequence along the conveying direction. A crankshaft assembly station is provided between the second and third automatic grease applicators. An offline sub-assembly table is provided on one side of the third pressing machine. The tightening machine is connected to an automatic screw feeder. A heating machine is provided on one side of the ring conveyor line. Multiple blocking cylinders and lifting cylinders are provided on the ring conveyor line. A tray is provided on the ring conveyor line.

[0004] Although it uses a conveyor line for assembly, it still requires a lot of manual intervention. The efficiency and assembly quality of the whole process are still affected by human intervention, and it cannot achieve fully automated assembly. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method where manual laborers simply place the corresponding parts in designated positions, and the entire assembly line automatically adjusts and assembles the reducer, resulting in high efficiency and consistent assembly quality.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic assembly production line for speed reducers, comprising a conveyor, one end of which is the starting end and the other end of which is the ending end; a vision positioning pallet loading station is provided at the starting end of the conveyor, the vision positioning pallet loading station is used to load the speed reducer housing at a specified angle, and the vision positioning pallet loading station includes a housing transfer robot; and a unloading mechanism is provided at the ending end of the conveyor.

[0007] Along the conveyor's conveying direction, there are, in sequence, a bearing heater, a second press, a snap ring feeder, a first oil seal feeder, an oil injection machine, a sealing gasket feeder, a third press, an automatic screw-driving machine, and a second oil seal feeder;

[0008] A No. 1 press is installed next to the beginning of the conveyor, and a No. 1 bearing feeding assembly is installed next to the No. 1 press.

[0009] A multi-gear feeding assembly is provided next to the No. 2 press. The multi-gear feeding assembly includes a gear assembly table, a gear transfer robot, and a drawer-type storage bin.

[0010] Next to the conveyor and in front of the No. 3 press, there is a No. 4 press. Next to the No. 4 press, there is a No. 2 bearing feeding assembly and an end cover feeding assembly. The end cover feeding assembly includes an end cover transfer robot.

[0011] Furthermore, the vision positioning pallet loading station also includes a scanning gantry and an angular detection platform. A CCD is installed above the scanning gantry, and a housing pallet is installed below the scanning gantry.

[0012] Furthermore, the shell transfer manipulator includes an outer clamping two-finger section and an inner supporting three-finger section, which are located on opposite sides and operate independently of each other.

[0013] Furthermore, the bearing loading assembly includes a bearing loading platform and a bearing transfer robot. The bearing loading platform includes a support, and a storage mechanism and a distribution mechanism are arranged above the support. The storage mechanism includes a turntable with several circumferentially distributed material cylinders. The material cylinders are used to hold stacked bearings. A material outlet is provided on the turntable corresponding to the bottom position of the material cylinder. The size of the material outlet is smaller than the diameter of the bearing. A discharge port is provided on the bottom side of the material cylinder. The distribution mechanism is located on the side of the storage mechanism. The distribution mechanism includes a distribution cylinder and a material picking plate. The material picking plate faces the material picking port, and a movable material picking hook is provided at the front end of the material picking plate.

[0014] Furthermore, a U-shaped groove is provided at the front end of the material picking plate, and the material picking hook is connected in the U-shaped groove by a shaft. A torsion spring is provided between the material picking hook and the material picking plate, and a limiting protrusion is provided between the material picking plate and the material picking hook. The limiting protrusion limits the maximum angle at which the material picking hook springs up, and the side of the material picking hook facing the material tray is an inclined surface.

[0015] Furthermore, the drawer-type storage bin includes a support frame, on which a support frame is provided. The support frame and the support frame are slidably connected by a first sliding pair, and a translation drive mechanism is provided between the support frame and the support frame. A drawer is provided inside the support frame, and the drawer and the support frame are slidably connected by a second sliding pair. The drawer and the support frame are pulled out in opposite directions.

[0016] Furthermore, the gear transfer manipulator is equipped with a single-gear gripper and a multi-gear gripping device. The multi-gear gripping device includes a fixed base and a clamping base. A connecting column is provided between the fixed base and the clamping base. Several fixed grooves are provided on the clamping base, and a clamping block is provided in the fixed groove. The clamping block and the clamping groove are slidably connected along the horizontal direction of the clamping base, and a clamping groove is formed between the clamping block and the fixed groove.

[0017] Furthermore, the clamping drive mechanism includes a vertically arranged push-pull rod located on the side of the clamping block facing away from the clamping slot. An inclined guide surface is provided between the push-pull rod and the clamping block, and the push-pull rod is connected to a push-pull cylinder or a push-pull linear motor.

[0018] A return spring is provided between the gripping block and the gripping seat.

[0019] Compared with the prior art, the beneficial effects of the present invention are: the visual positioning pallet loading station can realize automatic flipping and angle adjustment of the housing to ensure that all parts can be loaded into the specified position; the bearing loading assembly can quickly and accurately load the bearing into the housing or end cover; the multi-wheel loading assembly can simultaneously put multiple gears into the housing according to the specified distribution position, and complete the one-time pressing of the bearing, which is efficient and precise. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the reducer to be assembled.

[0021] Figure 2 A schematic diagram of a fully automated assembly line for speed reducers;

[0022] Figure 3 A 3D structural diagram of a visual positioning pallet loading station;

[0023] Figure 4 A top view of the visual positioning pallet loading station;

[0024] Figure 5 A 3D structural diagram of the robotic arm in a vision-positioning pallet loading station;

[0025] Figure 6 This is a 3D structural diagram of the bearing loading platform;

[0026] Figure 7 This is a three-dimensional structural diagram of the material distribution mechanism in the bearing loading platform;

[0027] Figure 8 This is a three-dimensional structural diagram of the material cylinder in the bearing loading platform;

[0028] Figure 9 This is a front view of a drawer-type storage silo.

[0029] Figure 10 This is a three-dimensional structural diagram of a drawer-type storage silo.

[0030] Figure 11 This is a front view of the multi-gear gripping device;

[0031] Figure 12 A three-dimensional structural diagram of the multi-gear gripping device;

[0032] Figure 13 for Figure 12 Enlarged view of section A;

[0033] Figure 14 This is a schematic diagram illustrating the operating principle of the gripping block in a multi-gear gripping device.

[0034] Reference numerals: 10. Housing; 11. Bearing No. 1; 12. Gear; 13. Bearing No. 2; 14. End cover; 100. Conveyor; 101. Bearing heater; 102. Press No. 2; 103. Snap ring feeder; 104. Oil seal feeder No. 1; 105. Oil injection machine; 106. Sealing gasket feeder; 107. Press No. 3; 108. Automatic screw driving machine; 109. Oil seal feeder No. 2; 110. Protective cover (automatic) 200. Dynamic feeding machine; 200. Press No. 1; 300. Vision positioning pallet feeding station; 301. Shell transfer robot; 3011. External gripper with two fingers; 3012. Internal support with three fingers; 302. Scanning gantry; 303. CCD; 304. Shell pallet; 305. Angular detection platform; 400. Bearing No. 1 feeding assembly; 401. Bearing feeding platform; 4011. Support frame; 4012. Material distribution mechanism; 40121. Material distribution. Cylinder; 40122, Material Picking Plate; 401221, U-shaped Groove; 40123, Material Picking Hook; 4013, Turntable; 40131, Material Cylinder; 401311, Material Discharge Port; 40132, Material Picking Port; 402, Bearing Transfer Robot; 500, Multi-Gear Feeding Assembly; 501, Drawer-Type Storage Bin; 5011, Support Frame; 50112, Drawer Cylinder; 5012, Support Frame; 5013, Drawer; 5014 5015. First sliding pair; 502. Second sliding pair; 502. Gear transfer robot; 5021. Fixed seat; 5022. Clamping seat; 50221. Clamping slot; 5023. Clamping block; 50231. Return spring; 5024. Push-pull rod; 5025. Push-pull cylinder; 503. Gear assembly table; 600. No. 4 press; 700. No. 2 bearing loading assembly; 800. End cover loading assembly; 900. Unloading mechanism. Detailed Implementation

[0035] Reference Figures 1 to 14 The embodiments of the fully automated assembly line for the speed reducer of the present invention will be further described.

[0036] In the description of this invention, it should be noted that the directional terms such as "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In the description of this invention, "several" or "a number" means two or more, unless otherwise explicitly specified.

[0038] like Figure 1 As shown, it is a three-dimensional structural diagram of the reducer to be assembled. It mainly includes housing 10, bearing 11, gear 12, bearing 13, and end cover 14. Bearing 11 and bearing 13 are only used to distinguish bearings installed in different positions.

[0039] A fully automated assembly line for speed reducers includes a conveyor 100, with one end as the starting point and the other end as the ending point. A vision positioning pallet loading station 300 is provided at the starting point of the conveyor 100 for loading speed reducer housings at a specified angle. The vision positioning pallet loading station 300 includes a housing transfer robot 301. A unloading mechanism 900 is provided at the ending point of the conveyor 100.

[0040] The conveyor 100 is capable of carrying the housing along a designated route or stopping at a designated location.

[0041] Along the conveying direction of the conveyor 100, there are a bearing heater 101, a second press 102, a snap ring feeder 103, a first oil seal feeder 104, an oil injection machine 105, a sealing gasket feeder 106, a third press 107, an automatic screw driving machine 108, and a second oil seal feeder 109 arranged in sequence.

[0042] A No. 1 press 200 is installed next to the beginning of the conveyor 100, and a No. 1 bearing feeding assembly 400 is installed next to the No. 1 press 200.

[0043] A multi-gear feeding assembly 500 is provided next to the No. 2 press 102. The multi-gear feeding assembly 500 includes a gear assembly table 503, a gear transfer robot 502, and a drawer-type storage bin 501.

[0044] Next to the conveyor 100 and in front of the third press 107, a fourth press 600 is provided. Next to the fourth press 600, a second bearing feeding assembly 700 and an end cap feeding assembly 800 are provided. The end cap feeding assembly 800 includes an end cap transfer robot.

[0045] In this application, the assembly process of the speed reducer is as follows:

[0046] S1. Transfer and loading of housing 10: The housing is flipped to a specified posture and angle by the housing transfer robot 301;

[0047] S2. Assembly of bearing 11: The flipped housing is placed into press 200 by housing transfer robot 301, and bearing 1 is pressed into the housing.

[0048] S3. Heating of bearings: The housing is transferred to the beginning of the conveyor 100 by the housing transfer robot 301, and the bearing is heated by the bearing heater 101.

[0049] Specifically, an electromagnetic coil can be used to heat the bearing.

[0050] S4, Gear 12 Assembly: Multiple gears are assembled according to a predetermined structure and placed on the gear assembly table 503 by the multi-gear feeding assembly 500, and these gears are placed together in the housing by the gear transfer robot 502, and the shaft at one end of the gear is pressed into the bearing by the second press 102.

[0051] S5. Assembly of the snap ring: The snap ring is installed on the shaft of the gear by the snap ring feeder 103;

[0052] S6. No. 1 oil seal and oil injection: Install No. 1 oil seal on the housing and inject lubricating oil;

[0053] S7. Assembly of sealing gaskets: The sealing gaskets are installed at the upper opening of the housing by the sealing gasket feeder 106.

[0054] Steps S5-7 can all adopt the structure and methods of existing technologies.

[0055] Assembly of S8, bearing 13 and end cap 14: First, the end cap is moved into press 600 by the end cap transfer robot. Then, bearing 13 is placed in the designated position on the end cap by bearing 13 loading assembly 700 and pressed in by press 600. After completion, the end cap transfer robot moves the end cap to the top of the housing and presses it in by press 107, so that bearing 13 mates with the shaft at the other end of the gear.

[0056] S9. Screw tightening: Tighten the end cover and housing with screws using the automatic screw-driving machine 108. S10. Second oil seal: Re-seal the entire reducer with oil.

[0057] S11. Unloading: After completion, the reducer can be removed from the end of the conveyor 100 through the unloading mechanism 900.

[0058] Of course, after step S10, the protective cover can be automatically installed by the automatic protective cover feeder 110. This protective cover is fitted onto the screws of the locking end cover and the housing.

[0059] Steps S5-7 and S9-11 can all adopt the structure and method of existing technology.

[0060] The above step S1 is implemented through the following specific structure:

[0061] like Figure 3 and 4 As shown, the visual positioning pallet loading station 300 also includes a scanning gantry 302 and an angular detection platform 305. A CCD 303 is installed above the scanning gantry 302, and a housing pallet 304 is installed below the scanning gantry 302.

[0062] At least two sets of housing pallets 304 are provided below the scanning gantry 302. The following example uses two sets of housing pallets 304. The housing to be assembled is placed on the housing pallets 304 by a forklift or other means, and then transported by the housing transfer robot 301.

[0063] A preferred scanning gantry 302 is provided with a sliding rail above it. The CCD 303 is slidably connected to the sliding rail by a slider. A driving mechanism is provided between the slider and the sliding rail. This driving mechanism can be a cylinder, a linear motor, or a linear servo motor, etc., to drive the CCD 303 to move back and forth above the two sets of housing trays 304 to scan the housing contour angle below them respectively.

[0064] like Figure 3 As shown, the angular detection platform 305 is located next to the scanning gantry 302. It includes a placement platform and a CCD 303 on top, which is used to detect the angle of the housing after it has been flipped. In this embodiment, the housing is initially in an upright state and needs to be flipped and laid down during assembly. The specific process is described below.

[0065] like Figure 5 As shown, the preferred shell transfer manipulator 301 in this embodiment includes an outer two-finger gripping part 3011 and an inner three-finger support part 3012. The outer two-finger gripping part 3011 and the inner three-finger support part 3012 are located on opposite sides and operate independently of each other.

[0066] The specific housing handling process is as follows: In the initial state, the reducer housing stands upright on the housing tray 304. After its shape and position are scanned by the CCD 303 on the scanning gantry 302, the outer two-finger part 3011 of the housing transfer robot 301 grasps the outer side of the housing and transfers it to the placement platform of the angular detection strip. The housing is then flipped over and laid down so that the side of the housing with the end cover is facing upwards. Then, the CCD 303 above the angular detection platform 305 detects the horizontal angle of the housing at this time and compares it with the standard angle built into the system. If they are different, the inner three-finger part 3012 of the housing transfer robot 301 grasps the inside of the housing and rotates it horizontally to the specified standard angle to facilitate the accurate installation of subsequent components into the housing.

[0067] Step S2 above is implemented through the following specific structure:

[0068] like Figure 2 As shown, the bearing loading assembly 400 includes a bearing loading platform 401 and a bearing transfer robot 402, wherein the bearing transfer robot 402 can transfer and transport bearings between the bearing loading platform 401 and the press 200, and the bearing loading platform 401 may have multiple components.

[0069] like Figure 6 As shown, the bearing loading platform 401 in this embodiment includes a support 4011, and a storage mechanism and a distribution mechanism 4012 are provided above the support 4011.

[0070] The material storage mechanism includes a turntable 4013, on which several material cylinders 40131 are arranged along the circumference. The material cylinders 40131 are used to place stacked bearings. The material tray is provided with a material outlet 40132 corresponding to the bottom position of the material cylinders 40131. The size of the material outlet 40132 is smaller than the diameter of the bearing. The bottom side of the material cylinders 40131 is provided with a discharge outlet 401311.

[0071] like Figure 6 and 8As shown, the material distribution mechanism 4012 is located on the side of the storage mechanism, specifically on the side of the turntable 4013. That is, a material picking station is provided on one side of the turntable 4013, and the material distribution mechanism 4012 is located at the picking station. The material distribution mechanism 4012 is fixed above the support 4011. The material distribution mechanism 4012 includes a material distribution cylinder 40121 and a picking plate 40122, with the picking plate 40122 facing the material picking station. A movable picking hook 40123 is provided at the front end of the picking plate 40122 (facing the turntable 4013). When the picking plate 40122 is inserted into the picking port 40132, the picking hook 40123 moves to the bottom or level with the picking plate 40122. When the picking plate 40122 is removed from the picking port 40132, the picking hook 40123 pops out above the picking plate 40122.

[0072] Several No. 1 bearings are stacked inside the material cylinder 40131. The bottom No. 1 bearing is attached to the top surface of the material tray and can be moved out along the discharge port 401311 on the side of the material cylinder 40131 under the action of the material picking mechanism.

[0073] like Figure 7 As shown, the specific material-picking hook 40123 can adopt the following structural forms: Form 1: A groove is provided at the front end of the material-picking plate 40122, and the material-picking hook 40123 is embedded in the groove. A compression spring is provided between the bottom of the material-picking hook 40123 and the groove. The side of the material-picking hook 40123 facing the material tray is inclined. In this way, when the material-picking plate 40122 moves into the material-picking port 40132, it is squeezed by the bottom bearing No. 1, and the material-picking hook 40123 will retract into the groove. After the material-picking hook 40123 passes the bearing No. 1, it pops out. During the process of the material-picking plate 40122 moving out, the material-picking hook 40123 is pulled out along with the bottom bearing No. 1. The bearing No. 1 is supported on the material-picking plate 40122, and then the bearing transfer robot 402 grabs it into the housing at the No. 1 press 200; Form 2: In the material-picking plate 40122, a groove is provided at the front end of the material-picking plate 40122, and the material-picking hook 40123 is embedded in the groove. A compression spring is provided between the bottom of the material-picking hook 40123 and the groove. The material-picking hook 40123 can adopt the following structural forms: Form 1: A groove is provided at the front end of the material-picking plate 40122, and the material-picking hook 40123 is embedded in the groove. The material-picking hook 40123 is embedded in the groove. The material-picking hook 40123 is embedded in the groove. The material-picking hook 40123 can adopt the following structural forms: Form 2: A groove is provided A U-shaped groove 401221 is provided at the front end of 122. The material picker 40123 is connected to the U-shaped groove 401221 by a shaft. A torsion spring is provided between the material picker 40123 and the material picker plate 40122. A limit protrusion is provided between the material picker plate 40122 and the material picker 40123 to limit the maximum angle of the material picker 40123. The side of the material picker 40123 facing the material tray is inclined. When the material picker plate 40122 moves into the material picker 40132, it is squeezed by the bottom first bearing. The material picker 40123 will rotate into the U-shaped groove 401221. After the material picker 40123 passes the first bearing, it will reverse and pop out. During the process of the material picker plate 40122 moving out, the material picker 40123 will be pulled out along with the bottom first bearing. The first bearing is supported on the material picker plate 40122.

[0074] Both of the above methods can conveniently and quickly remove the No. 1 bearing from the bottom in sequence, and after removal, the No. 1 bearing will always be in a fixed position. The bearing transfer robot 402 can smoothly grab the No. 1 bearing at the designated position and transfer it into the housing.

[0075] After the No. 1 bearing is transferred into the housing, the No. 1 press 200 presses the No. 1 bearing into the housing and fixes it in place by cold pressing.

[0076] Step S4 above is implemented through the following specific structure:

[0077] The multi-gear feeding assembly 500 includes a gear assembly table 503, a gear transfer robot 502, and a drawer-type storage bin 501.

[0078] like Figure 9 and 10 The drawer-type storage bin 501 includes a support frame 5011, on which a support frame 5012 is provided. The support frame 5012 and the support frame 5011 are slidably connected by a first sliding pair 5014. A translation drive mechanism is provided between the support frame 5012 and the support frame 5011. The translation drive mechanism can be a cylinder, which can be referred to as drawer cylinder 50112. A drawer 5013 is provided inside the support frame 5012. The drawer and the support frame 5012 are slidably connected by a second sliding pair 5015. The drawer and the support frame 5012 are pulled out in opposite directions.

[0079] In this embodiment, one side of the support frame 5011 is the inner side ( Figure 9 The left side), the other side is the outer side ( Figure 9 On the right side), the specific support frame 5012 can be pulled out inward by the drawer cylinder 50112; and the drawer can be pulled out outward by the operator, so that the operator can place gears from the outside into the drawer; and the gear transfer robot 502 grabs the gears in the drawer from the inside.

[0080] In this embodiment, the preferred drawer-type storage bin 501 is provided with several drawers, that is, it is also provided with several support frames 5012. These drawers and support frames 5012 all operate independently.

[0081] In this embodiment, the drawer is preferably provided with a handle on the side facing outwards.

[0082] A magnet is installed between the inside side of the drawer and the support frame 5012.

[0083] The specific usage process of the drawer-type storage bin 501 is as follows, one of which ( Figure 9 and 10For the top layer (where gears need to be added), a worker stands on the outside and uses the handle to pull out the drawer. At this time, the support frame 5012 is in the middle position of the support frame 5011, that is, the support frame 5012 does not extend to the inside. The worker then places the gear inside the drawer, and after completion, the drawer is returned to the support frame 5012; one layer ( Figure 9 and 10 In the bottom layer, during gear loading, the drawer cylinder 50112 pushes the support frame 5012 and the drawer inward simultaneously, so that the drawer actually reaches the inner position. Then, the gear transfer robot 502 grabs the gear in this drawer and transfers it to the gear assembly table 503. After all the gears in this drawer are loaded, the drawer cylinder 50112 pulls the support frame 5012 and the drawer back to the middle position of the support frame 5011, waiting for the staff to fill the gears.

[0084] In this embodiment, the damping of the second sliding pair 5015 is preferably greater than that of the first sliding pair 5014, so that the drawer can avoid automatically sliding outward under the action of the second sliding pair 5015 and the magnet.

[0085] In this embodiment, a reducer housing needs to accommodate multiple gears of different types. Therefore, it is preferable to have multiple drawer-type storage bins 501 to store gears of different types and to allow gear transfer robots 502 to grasp and transport them.

[0086] like Figure 1 As shown in the figure, this embodiment takes the case where three gears need to be installed inside the housing of the reducer.

[0087] The gear assembly table 503 is a fixture set according to the position of the gears in the housing. It has holes for inserting the gear shafts and can remain stable after the gear shafts are inserted. In this embodiment, the three gears have a positional meshing relationship and need to be installed in the housing simultaneously and pressed into the bearings at the same time. Therefore, it is necessary to grab the three placed gears at the same time and put them into the housing.

[0088] To simultaneously grasp three placed gears, the gear transfer robot 502 in this embodiment is equipped with a single-gear gripper and a multi-gear gripping device, wherein the single-gear gripper can be a three-finger gripper.

[0089] like Figure 11-14 As shown, the multi-gear gripping device is capable of simultaneously gripping three placed gears and maintaining their stable posture.

[0090] The multi-gear gripping device includes a fixed base 5021 and a gripping base 5022. A connecting column is provided between the fixed base 5021 and the gripping base 5022. Several fixed grooves are provided on the gripping base 5022, and a gripping block 5023 is provided in the fixed groove. The gripping block 5023 and the gripping groove are slidably connected along the horizontal direction of the gripping base 5022, and a gripping groove 50221 is formed between the gripping block 5023 and the fixed groove. That is, the gripping groove 50221 can be enlarged or reduced by the movement of the gripping block 5023. The gripping groove 50221 is used to grip the shaft of the gear. The gripping block 5023 is connected to a clamping drive mechanism that drives its movement.

[0091] like Figure 13 As shown, the preferred clamping drive mechanism in this embodiment includes a vertically arranged push-pull rod 5024. The push-pull rod 5024 is located on the side of the clamping block 5023 facing away from the clamping slot 50221. An inclined guide surface is provided between the push-pull rod 5024 and the clamping block 5023. The push-pull rod 5024 is connected to a push-pull cylinder 5025 or a push-pull linear motor. Through the action of the guide surface between the push-pull rod 5024 and the clamping block 5023, the clamping block 5023 can be moved horizontally. Specifically, as shown... Figure 14 As shown, when the push-pull rod 5024 moves downward, the clamping block 5023 moves to the left to clamp the shaft of the gear; when the push-pull rod 5024 moves upward, the clamping block 5023 releases the shaft of the gear.

[0092] In this embodiment, a return spring 50231 is preferably provided between the gripping block 5023 and the gripping seat 5022, which makes the gripping block 5023 always tend to move away from the gripping groove 50221.

[0093] A horizontally positioned guide pin is provided between the preferred clamping block 5023 and the clamping seat 5022. The guide pin passes through the clamping block 5023 and is used to guide the clamping block 5023 to ensure that the clamping block 5023 moves horizontally when it is subjected to the push-pull rod 5024.

[0094] The specific operation of the multi-gear gripping device is as follows: After the gear transfer robot 502 places the three gears in the gear assembly table 503 according to the set position, the multi-gear gripping device on the gear transfer robot 502 aligns with the top of the three gears, so that the three gripping slots 50221 are aligned with the shafts of the three gears. The size of the gripping slots 50221 is maximized by the action of the push-pull rod 5024. Then, the shafts of the three gears extend into the three gripping slots 50221. The gripping block 5023 moves horizontally towards the gripping slots 50221 by the action of the push-pull rod 5024. The shafts of the three gears are clamped simultaneously by the action of the gripping block 5023 and the gripping seat 5022. Then, they are transferred together into the housing, and the shafts of the three gears are aligned with the No. 1 bearing in the housing. The No. 2 press 102 presses the shafts of the three gears into the No. 1 bearing simultaneously.

[0095] Step S8 above is implemented through the following structure:

[0096] In this embodiment, the end cap loading assembly 800 also includes the same scanning gantry 302 as the visual positioning pallet loading station 300. An end cap pallet is placed below the scanning gantry 302. The end cap transfer robot and the housing transfer robot 301 can have the same structure. That is, the end cap on the end cap pallet can be placed in the No. 4 press 600 at a specified angle by the end cap transfer robot.

[0097] The No. 2 bearing feeding assembly 700 is exactly the same as the No. 1 bearing feeding assembly 400. The No. 2 bearing feeding assembly 700 places the No. 2 bearing on the end cover, and then presses it in through the No. 4 press 600.

[0098] After the end cap is pressed into the No. 2 bearing, the end cap transfer robot places the entire end cap on top of the housing, and then it is pressed by the No. 3 press 107.

[0099] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A full automatic assembly line for speed reducers, characterized in that: The application relates to a bearing assembly device, which comprises a conveyor, one end of the conveyor being a starting end and the other end being a terminal end, a visual positioning tray loading station being arranged at the starting end of the conveyor, the visual positioning tray loading station comprising a shell transfer manipulator, a scanning gantry and an angular detection platform; a CCD is arranged above the scanning gantry and can move along a sliding rail; at least two groups of shell tray alternately loading devices are arranged below the scanning gantry; a CCD for secondary angle correction is arranged above the angular detection platform; the shell transfer manipulator comprises an outer clamping two-finger part and an inner supporting three-finger part which operate independently; A bearing heating machine, a second pressing machine, a clamp spring loading machine, a first oil seal loading machine, an oiling machine, a sealing gasket loading machine, a third pressing machine, an automatic screwing machine and a second oil seal loading machine are sequentially arranged along the conveying direction of the conveyor; A first pressing machine is arranged beside the starting end of the conveyor, and a first bearing loading assembly is arranged beside the first pressing machine; A multi-gear loading assembly is arranged beside the second pressing machine, and the multi-gear loading assembly comprises a gear assembly table, a gear transfer manipulator and a drawer type storage bin; A single-gear gripper and a multi-gear grabbing device are arranged on the gear transfer manipulator, the multi-gear grabbing device comprises a fixed seat and a clamping seat, a connecting column is arranged between the fixed seat and the clamping seat, a plurality of fixed grooves are arranged on the clamping seat, clamping blocks are arranged in the fixed grooves, the clamping blocks and the fixed grooves are slidably connected along the horizontal direction of the clamping seat, and clamping grooves are formed between the clamping blocks and the fixed grooves; A fourth pressing machine is arranged beside the third pressing machine, a second bearing loading assembly and an end cover loading assembly are arranged beside the fourth pressing machine, and the end cover loading assembly comprises an end cover transfer manipulator.

2. The full automatic assembly line for speed reducer according to claim 1, characterized in that: The first bearing loading assembly comprises a bearing loading table and a bearing transfer manipulator, the bearing loading table comprises a support, a storage mechanism and a distribution mechanism are arranged above the support, the storage mechanism comprises a rotating disc, a plurality of material cylinders are arranged on the rotating disc in a circumferential direction, the material cylinders are used for placing stacked bearings, a material taking opening is arranged at the bottom position of the material cylinder corresponding to the bearing, the size of the material taking opening is smaller than the diameter of the bearing, a discharging opening is arranged at the bottom side of the material cylinder, and the distribution mechanism is arranged on the side of the storage mechanism; the distribution mechanism comprises a distribution air cylinder and a material taking plate, the material taking plate is opposite to the material taking opening, a movable material taking hook is arranged at the front end of the material taking plate.

3. The full automatic assembly line for speed reducer according to claim 2, characterized in that: A U-shaped groove is arranged at the front end of the material taking plate, the material taking hook is connected in the U-shaped groove through a shaft, a torsional spring is arranged between the material taking hook and the material taking plate, a limiting protrusion is arranged between the material taking plate and the material taking hook, the limiting protrusion limits the maximum angle of the material taking hook, and the side of the material taking hook facing the material disc is a slope.

4. The full automatic assembly line for speed reducer according to claim 1, characterized in that: The drawer type storage bin comprises a support frame, a support frame is arranged on the support frame, the support frame and the support frame are slidably connected through a first sliding pair, a translation driving mechanism is arranged between the support frame and the support frame, a drawer is arranged in the support frame, the drawer and the support frame are slidably connected through a second sliding pair, and the drawer and the support frame are extracted in opposite directions.

5. The full automatic assembly line for speed reducer according to claim 1, characterized in that: The multi-toothed grabbing device further comprises a vertically arranged push-pull rod located on the side of the clamping block away from the clamping groove, an inclined guide surface is arranged between the push-pull rod and the clamping block, and the push-pull rod is connected with a push-pull cylinder or a push-pull linear motor.

6. The full automatic assembly line for speed reducer according to claim 5, characterized in that: A reset spring is arranged between the clamping block and the clamping seat.

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