Planetary roller screw assembly and method of assembly

Abstract

The present application relates to the technical field of screw assembly, in particular to a planetary roller screw assembly device and method, comprising a rack, a clamp lifting assembly, a clamp lifting platform, a clamp mechanism, a plurality of buckle assemblies, a lower buckle support, an upper buckle lifting platform, an upper buckle lifting assembly, a buckle telescopic driving assembly and a controller; the clamp lifting assembly is used to drive the lifting of the clamp lifting platform, and the upper buckle lifting assembly is used to drive the lifting of the upper buckle lifting platform. In view of the technical problem that the assembly of the planetary roller screw is inconvenient, compared with the existing assembly clamp, the present application has a higher degree of automation, can greatly improve the assembly efficiency, and realizes the rapid assembly of the planetary roller screw.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of screw assembly, in particular to a planetary roller screw assembly device and method. BACKGROUND

[0002] The planetary roller screw is a new type of transmission device that converts rotary motion into linear motion, including rollers, screws, cages, screw nuts and cage retaining rings. Due to its large carrying capacity, high precision, high efficiency, no pollution, easy maintenance and other advantages, it is gradually applied to aerospace, vehicles and precision machine tools and other industrial fields.

[0003] However, the existing planetary roller screw assembly mainly relies on manual operation, and lacks specific mechanical devices for assembly. In the prior art such as patent CN216759692U, the planetary roller screw assembly fixture completes assembly through the upper end mounting arm, base, hollow screw clamp device and cage clamping device. Although the whole device can complete the assembly of the planetary roller screw pair, the patent needs to be manually operated throughout the process, has low automation degree, low assembly efficiency and slow assembly speed. SUMMARY

[0004] In view of the technical problem that the assembly of the planetary roller screw is inconvenient, the present application provides a planetary roller screw assembly device, which has higher automation degree compared to the existing assembly fixture, can greatly improve the assembly efficiency, and realizes the rapid assembly of the planetary roller screw.

[0005] The technical scheme provided by the application is as follows: a planetary roller screw assembly device, comprising a rack, a clamp lifting assembly, a clamp lifting table, a clamp mechanism, a plurality of buckle assemblies, a lower buckle support, an upper buckle lifting table, an upper buckle lifting assembly, a buckle telescopic driving assembly and a controller; the clamp lifting assembly is used to drive the lifting of the clamp lifting table, and the upper buckle lifting assembly is used to drive the lifting of the upper buckle lifting table; the upper buckle lifting table is located on the upper side of the rack, the lower buckle support is located between the rack and the upper buckle lifting table, and the lower buckle support is fixedly connected with the rack; the clamp mechanism comprises a clamp threaded table, a clamp rotating table, an inner bracket, a retainer clamp assembly, a screw clamp support and a screw clamp assembly; the upper side of the clamp lifting table is provided with an assembly cavity, the clamp threaded table is located in the assembly cavity, and the circumferential outer side wall of the clamp threaded table is threadedly matched with the circumferential inner side wall of the assembly cavity; the inner bracket is arranged on the clamp threaded table, the middle part of the inner bracket protrudes to one side to form a connecting seat, and the connecting seat penetrates the centers of the clamp lifting table and the clamp rotating table; the clamp rotating table is annular, the inner side surface of the clamp rotating table is movably matched with the circumferential outer side of the inner bracket, and the outer side surface of the clamp rotating table abuts against the inner side wall of the clamp threaded table; the screw clamp support is fixedly arranged on the clamp lifting table, the screw clamp assembly is arranged on the screw clamp support, and the retainer clamp assembly is arranged on the clamp rotating table and the inner bracket; the buckle assembly is located on the lower buckle support and the upper buckle lifting table, the buckle assembly comprises a buckle wheel and a buckle rod, a plurality of limiting notches are arranged on the lower buckle support and the upper buckle lifting table, the buckle rod is movably matched with the limiting notches, the buckle wheel and the buckle rod are in gear and rack cooperation, and an open clasp is fixedly arranged on one side of the buckle rod; the buckle telescopic driving assembly comprises a driving part, a telescopic transmission main gear, a plurality of telescopic transmission secondary gears, a plurality of telescopic transmission rods and a plurality of telescopic transmission sleeve rods, the driving part is in transmission connection with the telescopic transmission main gear, the telescopic transmission main gear is in meshing cooperation with the telescopic transmission secondary gears, the inner side of the telescopic transmission secondary gear is provided with an internal thread, the outer side of the telescopic transmission rod is provided with an external thread, and the telescopic transmission secondary gear and the telescopic transmission rod are in meshing cooperation through the internal thread and the external thread; the telescopic transmission sleeve rod is in sleeve joint cooperation with the telescopic transmission rod, the buckle wheel located on the lower buckle support is fixedly connected with the telescopic transmission rod, and the buckle wheel located on the upper buckle lifting table is fixedly connected with the telescopic transmission sleeve rod; the clamp lifting assembly, the upper buckle lifting assembly and the driving part are electrically connected with the controller.

[0006] Optionally, the clamp lifting assembly comprises a first motor, a lifting transmission shaft, a first main gear, a plurality of first auxiliary gears and a plurality of first lifting screws; the first motor is electrically connected with the controller; the first motor is fixedly arranged on the rack, the lifting transmission shaft is movably arranged on the rack, the lifting transmission shaft is in transmission connection with the first motor, the first main gear is fixedly arranged on one end of the lifting transmission shaft, the plurality of first auxiliary gears are in meshing with the first main gear, the inner side of the first auxiliary gear is provided with internal threads, each first auxiliary gear is in threaded engagement with the corresponding first lifting screw through the internal threads, and the top of the first lifting screw is movably connected with the bottom of the clamp lifting platform.

[0007] Optionally, the clamp lifting assembly comprises a first motor, a lifting transmission shaft, a first main gear, a plurality of first auxiliary gears and a plurality of first lifting screws; the first motor is electrically connected with the controller; the first motor is fixedly arranged on the rack, the lifting transmission shaft is movably arranged on the rack, the lifting transmission shaft is in transmission connection with the first motor, the first main gear is fixedly arranged on one end of the lifting transmission shaft, the plurality of first auxiliary gears are in meshing with the first main gear, the inner side of the first auxiliary gear is provided with internal threads, each first auxiliary gear is in threaded engagement with the corresponding first lifting screw through the internal threads, and the top of the first lifting screw is movably connected with the bottom of the clamp lifting platform.

[0008] Optionally, the clamp lifting assembly comprises a first motor, a lifting transmission shaft, a first main gear, a plurality of first auxiliary gears and a plurality of first lifting screws; the first motor is electrically connected with the controller; the first motor is fixedly arranged on the rack, the lifting transmission shaft is movably arranged on the rack, the lifting transmission shaft is in transmission connection with the first motor, the first main gear is fixedly arranged on one end of the lifting transmission shaft, the plurality of first auxiliary gears are in meshing with the first main gear, the inner side of the first auxiliary gear is provided with internal threads, each first auxiliary gear is in threaded engagement with the corresponding first lifting screw through the internal threads, and the top of the first lifting screw is movably connected with the bottom of the clamp lifting platform.

[0009] Optionally, the clamp lifting assembly comprises a first motor, a lifting transmission shaft, a first main gear, a plurality of first auxiliary gears and a plurality of first lifting screws; the first motor is electrically connected with the controller; the first motor is fixedly arranged on the rack, the lifting transmission shaft is movably arranged on the rack, the lifting transmission shaft is in transmission connection with the first motor, the first main gear is fixedly arranged on one end of the lifting transmission shaft, the plurality of first auxiliary gears are in meshing with the first main gear, the inner side of the first auxiliary gear is provided with internal threads, each first auxiliary gear is in threaded engagement with the corresponding first lifting screw through the internal threads, and the top of the first lifting screw is movably connected with the bottom of the clamp lifting platform.

[0010] Optionally, the driving part comprises a third motor and a telescopic transmission hollow wheel; the third motor is electrically connected with the controller; the third motor is fixed on the frame, the telescopic transmission hollow wheel is sleeved on the outside of the height adjustment transmission hollow wheel, the third motor and the telescopic transmission hollow wheel are in transmission connection, and the telescopic transmission main gear is fixedly arranged at one end of the telescopic transmission hollow wheel.

[0011] Optionally, it further comprises a third main bevel gear, a third driving transmission rod, a third secondary bevel gear, a third main sprocket, a third secondary sprocket and a third chain; the third main bevel gear is fixedly arranged at the output end of the third motor, the third driving transmission rod is movably arranged on the frame, the third secondary bevel gear is fixedly arranged at one end of the third driving transmission rod, the third main bevel gear is in mesh with the third secondary bevel gear, the third main sprocket is arranged at the other end of the third driving transmission rod, the third secondary sprocket is fixedly arranged at the bottom of the height adjustment transmission hollow wheel, and the third main sprocket and the third secondary sprocket are in transmission connection through the third chain.

[0012] Optionally, the holder clamp assembly comprises a plurality of holder clamping rods, a first clamping elastic band, a first expansion plate, a first compression spring, a first threaded fastener and a first nut; the plurality of holder clamping rods are distributed in a circumferential direction on the clamp rotating table, one end of each of the holder clamping rods is hingedly connected with the rotating table, the first clamping elastic band is sleeved on the outside of a circumferential structure formed by the upper ends of the holder clamping rods, the diameter of the circumferential structure formed by the upper ends of the holder clamping rods is smaller than the diameter of a circumferential structure formed by the lower ends of the holder clamping rods; a first adjusting section is arranged at the middle part of each of the holder clamping rods, the first adjusting section forms a tapered structure with a small upper part and a large lower part, the first expansion plate is located in the tapered structure formed by the first adjusting section and abuts against the inner side of the first adjusting section, the first compression spring is located between the first expansion plate and the inner holder, the first threaded fastener penetrates through the first expansion plate, the first compression spring and the inner holder and is fixedly connected through the first nut.

[0013] Optionally, the screw clamp assembly comprises a plurality of screw clamping rods, a second clamping elastic band, a second expansion plate, a second compression spring, a second threaded fastener and a second nut; the plurality of screw clamping rods are distributed in a circumferential direction on the screw clamp support, and one end of each of the screw clamping rods is hingedly connected to the screw clamp support; the second clamping elastic band is sleeved on the outer side of a circumferential structure formed by the upper ends of the screw clamping rods, and the diameter of the circumferential structure formed by the upper ends of the screw clamping rods is smaller than the diameter of a circumferential structure formed by the lower ends of the screw clamping rods; the middle part of each of the screw clamping rods is provided with a second adjusting section, and the second adjusting section forms a tapered structure with a smaller upper part and a larger lower part; the second expansion plate is located in the tapered structure formed by the second adjusting section and abuts against the inner side of the second adjusting section; the second compression spring is located between the second expansion plate and the screw clamp support; and the second threaded fastener penetrates through the second expansion plate, the second compression spring and the screw clamp support and is fixedly connected by the second nut.

[0014] An assembly method using the planetary roller screw assembly device, characterized in that the method comprises the following steps: fixing the retainer on the retainer clamp assembly, fixing the screw on the screw clamp assembly, rotating the clamp threaded table to adjust the height of the retainer clamp assembly, so that the retainer is below the end plane of the screw, using the controller to control the clamp lifting assembly to adjust the height of the clamp mechanism, and using the controller to control the upper buckle lifting assembly to adjust the height of the buckle assembly on the upper buckle lifting table, clamping the roller into the clamping ring on the lower buckle support and the upper buckle lifting table according to the calculated angle and length, using the controller to control the driving part of the buckle telescopic driving assembly to match the roller with the screw, rotating the clamp threaded table to adjust the height of the retainer clamp assembly, so that the retainer matches the screw and the roller, using the controller to control the driving part of the buckle telescopic driving assembly to retract the clamping ring, using the controller to control the clamp lifting assembly to adjust the height of the clamp mechanism, lifting the assembly body, screwing the screw nut, loosening the retainer clamp assembly and the screw clamp assembly, and installing the retainer stop ring to successfully install the planetary roller screw pair.

[0015] Advantages

[0016] Compared with the prior art, the technical scheme provided by the present application has the following advantages: compared with the existing assembly clamp, the present application has a higher degree of automation, can greatly improve the assembly efficiency, and realizes the rapid assembly of the planetary roller screw. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1A structural schematic diagram of the planetary roller screw assembly device for the embodiment of the present application.

[0018] Figure 2 A structural schematic diagram of the clamp mechanism for the embodiment of the present application.

[0019] Figure 3 A buckle assembly for the embodiment of the present application.

[0020] Figure 4 A partial structural schematic diagram of the planetary roller screw assembly device for the embodiment of the present application. DETAILED DESCRIPTION

[0021] For further understanding of the present application, the present application is described in detail in conjunction with the drawings and embodiments.

[0022] The present application is further described in detail in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, but not to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for the convenience of description. The first, second and the like in the present application are set for the convenience of describing the technical solutions of the present application, and have no specific limiting effect, and are generic. It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other without conflict. In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only used for description purposes, and cannot be understood as indicating or implying relative importance. Unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be interpreted broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The technical solutions in the same embodiment, and the technical solutions in different embodiments can be arranged and combined to form new technical solutions without contradiction or conflict, which are within the scope of the present application.

[0023] Embodiment 1

[0024] In conjunction with the drawingsFigures 1-4 The embodiment provides a planetary roller screw assembly device, which comprises a rack 10, a clamp lifting assembly, a clamp lifting table 11, a clamp mechanism, a plurality of buckle assemblies, a lower buckle support 12, an upper buckle lifting table 13, an upper buckle lifting assembly, a buckle telescopic driving assembly and a controller.

[0025] The clamp lifting assembly is used for driving the lifting of the clamp lifting table 11, and the upper buckle lifting assembly is used for driving the lifting of the upper buckle lifting table 13. The upper buckle lifting table 13 is located on the upper side of the rack 10, the lower buckle support 12 is located between the rack 10 and the upper buckle lifting table 13, and the lower buckle support 12 is fixedly connected with the rack 10.

[0026] The clamp mechanism comprises a clamp threaded table 14, a clamp rotating table 15, an inner bracket 16, a retainer clamp assembly, a screw clamp support 17 and a screw clamp assembly. The upper side of the clamp lifting table 11 is provided with an assembly cavity 110, the clamp threaded table 14 is located in the assembly cavity 110, and the circumferential outer side wall of the clamp threaded table 14 is threadedly connected with the circumferential inner side wall of the assembly cavity 110. The inner bracket 16 is arranged on the clamp threaded table 14, the middle part of the inner bracket 16 is protruded to one side to form a connecting seat 160, the connecting seat 160 penetrates the center of the clamp lifting table 11 and the clamp rotating table 15. The clamp rotating table 15 is annular, the inner side surface of the clamp rotating table 15 is movably connected with the circumferential outer side of the inner bracket 16, and the outer side surface of the clamp rotating table 15 is abutted with the inner side wall of the clamp threaded table 14. The screw clamp support 17 is fixedly arranged on the clamp lifting table 11, the screw clamp assembly is arranged on the screw clamp support 17, and the retainer clamp assembly is arranged on the clamp rotating table 15 and the inner bracket 16.

[0027] The buckle assembly is located on the lower buckle support 12 and the upper buckle lifting table 13. The buckle assembly comprises a buckle wheel 18 and a buckle rod 19, a plurality of limiting notches are arranged on the lower buckle support 12 and the upper buckle lifting table 13, the buckle rod 19 is movably connected with the limiting notches, the buckle wheel 18 and the buckle rod 19 form a gear and rack cooperation, and an open clasp 20 is fixedly arranged on one side of the buckle rod 19.

[0028] The buckle telescopic drive assembly comprises a driving part, a telescopic transmission main gear 21, a plurality of telescopic transmission secondary gears 22, a plurality of telescopic transmission rods 23 and a plurality of telescopic transmission sleeve rods 24, the driving part is in transmission connection with the telescopic transmission main gear 21, the telescopic transmission main gear 21 is in meshing cooperation with the telescopic transmission secondary gears 22, the inner side of the telescopic transmission secondary gears 22 is provided with internal threads, the outer side of the telescopic transmission rods 23 is provided with external threads, the telescopic transmission secondary gears 22 and the telescopic transmission rods 23 are in meshing cooperation through the internal threads and the external threads; the telescopic transmission sleeve rods 24 are in sleeve joint cooperation with the telescopic transmission rods 23, the buckle wheels 18 located on the lower buckle support 12 are fixedly connected with the telescopic transmission rods 23, and the buckle wheels 18 located on the upper buckle lifting platform 13 are fixedly connected with the telescopic transmission sleeve rods 24.

[0029] The clamp lifting assembly, the upper buckle lifting assembly and the driving part are electrically connected with the controller.

[0030] In view of the technical problem that the assembly of the planetary roller screw is inconvenient, the planetary roller screw assembly device provided in the embodiment has a higher degree of automation compared to the existing assembly fixture, can greatly improve the assembly efficiency, and realizes the rapid assembly of the planetary roller screw.

[0031] The assembly method for assembling the planetary roller screw by using the planetary roller screw assembly device is as follows: first, fix the retainer on the retainer fixture assembly and fix the screw on the screw fixture assembly, rotate the fixture threaded table 14 to adjust the height of the retainer fixture assembly, so that the retainer is below the plane of the end of the screw.

[0032] Then, according to the actual length of the roller and the screw, the controller is used to control the clamp lifting assembly to adjust the height of the clamp mechanism, and the controller is used to control the upper buckle lifting assembly to adjust the height of the buckle assembly located on the upper buckle lifting platform 13.

[0033] Subsequently, the roller is buckled into the clamping ring 20 located on the lower buckle support 12 and the upper buckle lifting platform 13 according to the calculated angle and length.

[0034] Then, the controller is used to control the driving part of the buckle telescopic drive assembly to cooperate the roller with the screw.

[0035] After that, the retainer fixture assembly height is adjusted by rotating the fixture threaded table 14, so that the retainer cooperates with the screw and the roller.

[0036] Then, the controller is used to control the driving part of the buckle telescopic drive assembly to retract the clamping ring 20, and the controller is used to control the clamp lifting assembly to adjust the height of the clamp mechanism, so that the assembly body is lifted, the screw nut is screwed, the retainer fixture assembly and the screw fixture assembly are loosened, and the retainer retainer ring is installed, so that the entire planetary roller screw pair is successfully installed.

[0037] In combination with the foregoing, the planetary roller screw assembly device clamps the screw and the retainer through the clamp mechanism, and can adjust the height of the retainer relative to the screw.

[0038] The adjustment of the height of the retainer relative to the screw is achieved by rotating the clamp threaded table 14. In combination with the drawings, the principle is that, since the circumferential outer wall of the clamp threaded table 14 is threadedly connected with the circumferential inner wall of the assembly cavity 110, the rotation of the clamp threaded table 14 can be converted into the lifting of the clamp threaded table 14 relative to the clamp lifting table 11. The clamp threaded table 14, as a structure for supporting the clamp rotating table 15 and the inner holder 16, can thereby drive the lifting movement of the clamp rotating table 15 and the inner holder 16, thereby adjusting the height of the retainer clamp assembly. Since the screw clamp assembly is fixed by the screw clamp support 17, and the screw clamp support 17 is fixedly connected with the clamp lifting table 11, the screw clamp assembly itself will not change in height, and thus the adjustment of the height of the retainer clamp assembly achieves the relative height adjustment of the retainer and the screw.

[0039] In a more preferred embodiment, the thread connection between the circumferential outer wall of the clamp threaded table 14 and the circumferential inner wall of the assembly cavity 110 constitutes a self-locking thread structure, thereby ensuring the position locking after height adjustment.

[0040] The retainer clamp assembly achieves the clamping of the retainer to be assembled. In one embodiment, the retainer clamp assembly includes a plurality of retainer clamp rods 55, a first clamping elastic band 56, a first expansion plate 57, a first compression spring 58, a first threaded fastener 59, and a first nut 60. The plurality of retainer clamp rods 55 are distributed circumferentially on the clamp rotating table 15, and one end of each retainer clamp rod 55 is hingedly connected with the rotating table. The first clamping elastic band 56 is sleeved on the outer side of the circumferential structure formed by the upper ends of the retainer clamp rods 55, and the diameter of the circumferential structure formed by the upper ends of the retainer clamp rods 55 is smaller than the diameter of the circumferential structure formed by the lower ends of the retainer clamp rods 55. The middle part of the retainer clamp rod 55 is provided with a first adjustment section 550, which forms a tapered structure with the upper part smaller than the lower part. The first expansion plate 57 is located inside the tapered structure formed by the first adjustment section 550 and abuts against the inner side of the first adjustment section 550. The first compression spring 58 is located between the first expansion plate 57 and the inner holder 16. The first threaded fastener 59 penetrates through the first expansion plate 57, the first compression spring 58, and the inner holder 16 and is fixedly connected by the first nut 60.

[0041] In combination with the above-mentioned embodiments, the working principle of the holder clamp assembly clamping the holder is that the holder is arranged on the outside of the circumferential structure formed by the upper end of the holder clamp rod 55, that is, the holder clamp rod 55 abuts against the inner side of the holder and maintains an outwardly expanding force to fix the holder on the outside of the circumferential structure formed by the upper end of the holder clamp rod 55.

[0042] In the above-mentioned embodiments, the degree of outward expansion of the holder clamp rod 55 can be adjusted by adjusting the distance of the first expansion plate 57 relative to the inner holder 16. The principle is that when the first threaded fastener 59 is rotated, the distance of the first expansion plate 57 relative to the inner holder 16 changes. Since the first adjusting section 550 forms a conical structure with the upper end being smaller than the lower end, after the first expansion plate 57 abuts against the first adjusting section 550, the first expansion plate 57 changes the inclination of the holder clamp rod 55, thereby changing the degree of outward expansion of the holder clamp rod 55. The first compression spring 58 is used to ensure that the first expansion plate 57 always abuts against the first adjusting section 550. The first clamping elastic band 56 is used to bind the circumferential structure formed by the upper end of the holder clamp rod 55 to ensure the stability of the structure. The first nut 60 is used to ensure the assembly of the first threaded fastener 59 and other structures.

[0043] The screw clamp assembly achieves clamping of the hollow screw to be assembled. In an embodiment, the screw clamp assembly includes a plurality of screw clamp rods 61, a second clamping elastic band 62, a second expansion plate 63, a second compression spring 64, a second threaded fastener 65, and a second nut 66. The plurality of screw clamp rods 61 are distributed circumferentially on the screw clamp support 17, and one end of each screw clamp rod 61 is hinged to the screw clamp support 17. The second clamping elastic band 62 is sleeved on the outside of the circumferential structure formed by the upper end of the screw clamp rod 61, and the diameter of the circumferential structure formed by the upper end of the screw clamp rod 61 is smaller than the diameter of the circumferential structure formed by the lower end of the screw clamp rod 61. The middle part of the screw clamp rod 61 is provided with a second adjusting section 610, which forms a conical structure. The second expansion plate 63 is located in the conical structure formed by the second adjusting section 610 and abuts against the inner side of the second adjusting section 610. The second compression spring 64 is located between the second expansion plate 63 and the screw clamp support 17. The second threaded fastener 65 penetrates through the second expansion plate 63, the second compression spring 64, and the screw clamp support 17 and is fixedly connected by the second nut 66.

[0044] In the above-mentioned embodiments, the clamping principle of the screw clamp assembly to the screw is similar to the clamping principle of the holder clamp assembly to the holder. The specific principle is that the hollow screw is arranged on the outside of the circumferential structure formed by the upper end of the screw clamp rod 61, that is, the screw clamp rod 61 abuts against the inner wall of the screw and maintains an outwardly expanding force to fix the hollow screw on the outside of the circumferential structure formed by the upper end of the screw clamp rod 61.

[0045] The degree of outward expansion of the screw rod clamping rod 61 can be adjusted by adjusting the distance between the second expansion plate 63 and the screw rod clamp support 17. The principle is that when the second threaded fastener 65 is rotated, the distance between the second expansion plate 63 and the screw rod clamp support 17 changes. Since the second adjustment section 610 forms a conical structure with a small upper part and a large lower part, after the second expansion plate 63 abuts against the second adjustment section 610, the second expansion plate 63 will change the inclination of the screw rod clamping rod 61, thereby changing the degree of outward expansion of the screw rod clamping rod 61. The second compression spring 64 is used to ensure that the second expansion plate 63 always abuts against the second adjustment section 610. The second clamping elastic band 62 is used to bind the circumferential structure formed by the upper end of the screw rod clamping rod 61, ensuring the stability of the structure. The second nut 66 is used to ensure the assembly of the second threaded fastener 65 and other structures.

[0046] As can be seen from the foregoing assembly method, the planetary roller screw assembly device can also adjust the overall height of the clamp mechanism by driving the clamp lifting assembly to lift the clamp lifting platform 11. In one embodiment, the clamp lifting assembly includes a first motor 25, a lifting transmission shaft 26, a first main gear 27, a plurality of first auxiliary gears 28, and a plurality of first lifting screws 29. The first motor 25 is electrically connected to the controller. The first motor 25 is fixedly arranged on the rack 10, and the lifting transmission shaft 26 is movably arranged on the rack 10. The lifting transmission shaft 26 is in transmission connection with the first motor 25. The first main gear 27 is fixed to one end of the lifting transmission shaft 26. The plurality of first auxiliary gears 28 are in meshing connection with the first main gear 27. The inner side of the first auxiliary gear 28 is provided with an internal thread. Each first auxiliary gear 28 is in threaded engagement with the corresponding first lifting screw 29 through the internal thread. The top of the first lifting screw 29 is movably connected with the bottom of the clamp lifting platform 11.

[0047] In this embodiment, the principle of the clamp lifting assembly adjusting the overall height of the clamp mechanism is as follows: the controller drives the first motor 25 to start. The forward rotation or reverse rotation of the first motor 25 drives the rotation of the lifting transmission shaft 26. The rotation of the lifting transmission shaft 26 is transmitted to the plurality of first auxiliary gears 28 located around the first main gear 27 and in meshing connection with the first main gear 27 through the first main gear 27. After the rotation of the first auxiliary gear 28, since the first auxiliary gear 28 is in threaded engagement with the corresponding first lifting screw 29 through the internal thread, the first lifting screw 29 converts the rotary motion into linear motion, thereby driving the lifting motion of the clamp lifting platform 11 located at the top of the first lifting screw 29.

[0048] In a further embodiment, a first main bevel gear 30, a first driving transmission rod 31, a first secondary bevel gear 32, a first main sprocket 33, a first secondary sprocket 34 and a first chain 35 are further included. The first main bevel gear 30 is fixedly arranged at the output end of the first motor 25, the first driving transmission rod 31 is movably arranged on the frame 10, the first secondary bevel gear 32 is fixedly arranged at one end of the first driving transmission rod 31, the first main bevel gear 30 is engaged with the first secondary bevel gear 32, the first main sprocket 33 is arranged at the other end of the first driving transmission rod 31, the first secondary sprocket 34 is fixedly arranged at the bottom end of the lifting transmission shaft 26, and the first main sprocket 33 and the first secondary sprocket 34 are drivingly connected by the first chain 35.

[0049] Thus, the first motor 25 can output torque to the first driving transmission rod 31 through the engagement of the first main bevel gear 30 and the first secondary bevel gear 32, and then transmit the torque to the lifting transmission shaft 26 through the first main sprocket 33, the first secondary sprocket 34 and the first chain 35.

[0050] It can be known from the foregoing assembly method that the planetary roller screw assembly device can further drive the lifting of the upper buckle lifting platform 13 through the upper buckle lifting assembly, so as to realize the height adjustment of the buckle assembly located on the upper buckle lifting platform 13. In an embodiment, the upper buckle lifting assembly includes a second motor 36, a height adjustment transmission hollow wheel 37, a second main gear 38, a plurality of second secondary gears 39 and a plurality of second lifting screws 40; the second motor 36 is electrically connected with the controller. The second motor 36 is fixedly arranged on the frame 10, the height adjustment transmission hollow wheel 37 is sleeved on the outside of the lifting transmission shaft 26, the lifting transmission shaft 26 is drivingly connected with the second motor 36, the second main gear 38 is fixedly arranged at one end of the height adjustment transmission hollow wheel 37, the plurality of second secondary gears 39 are engaged with the second main gear 38, the inside of the second secondary gear 39 is provided with an internal thread, each second secondary gear 39 is threadedly engaged with the corresponding second lifting screw 40 through the internal thread, and the top of the second lifting screw 40 is movably connected with the bottom of the upper buckle lifting platform 13.

[0051] In this embodiment, the principle that the upper buckle lifting assembly drives the movement of the upper buckle lifting platform 13 is as follows: the controller drives the second motor 36 to start, and the forward rotation or reverse rotation of the second motor 36 drives the rotation of the height adjustment transmission hollow wheel 37, the rotation of the height adjustment transmission hollow wheel 37 is transmitted to the plurality of second secondary gears 39 located around the second main gear 38 and engaged with the second main gear 38 through the second main gear 38, after the rotation of the second secondary gear 39, since the second secondary gear 39 is threadedly engaged with the corresponding second lifting screw 40 through the internal thread, the second lifting screw 40 converts the rotary motion into linear motion, thereby driving the lifting movement of the upper buckle lifting platform 13 located at the top of the second lifting screw 40.

[0052] In a further embodiment, the system also includes a second main bevel gear 41, a second drive transmission rod, a second auxiliary bevel gear 43, a second main sprocket, a second auxiliary sprocket 45, and a second chain. The second main bevel gear 41 is fixedly mounted on the output end of the second motor 36, the second drive transmission rod is movably mounted on the frame 10, the second auxiliary bevel gear 43 is fixedly mounted on one end of the second drive transmission rod, the second main bevel gear 41 meshes with the second auxiliary bevel gear 43, the second main sprocket is mounted on the other end of the second drive transmission rod, and the second auxiliary sprocket 45 is fixedly mounted on the bottom of the height-adjusting hollow transmission wheel 37. The second main sprocket and the second auxiliary sprocket 45 are connected by a second chain drive.

[0053] Therefore, the second motor 36 can output torque to the second drive transmission rod through the meshing of the second main bevel gear 41 and the second auxiliary bevel gear 43, and then transmit the torque to the height adjustment transmission hollow wheel 37 through the second main sprocket, the second auxiliary sprocket 45 and the second chain.

[0054] As can be seen from the aforementioned assembly method, the roller needs to be snapped into the retaining ring 20 located on the lower retaining bracket 12 and the upper retaining lifting platform 13 according to the calculated angle and length. The retaining ring 20 has a certain elasticity based on its own shape and can deform. Therefore, the roller can be stably snapped in by its own structure. Then, the controller is used to control the drive part of the retaining extension drive assembly to make the roller cooperate with the lead screw.

[0055] The rollers need to have their assembly angles calculated according to the formulas in Dong Yong's article "Design Method and Virtual Assembly of Rollers in Planetary Roller Screw Pairs", which are excerpted below: β=n s θ (where Where θ is the included angle between the rollers, N is the number of rollers, θ is the revolution angle of the rollers, and n is the number of rollers. s (where β is the number of threads on the lead screw and β is the rotation angle of the roller).

[0056] The latching assembly includes a latching wheel 18 and a latching rod 19. Several limiting slots are provided on the lower latching bracket 12 and the upper latching lifting platform 13. The latching rod 19 is movably engaged with the limiting slots. A gear and rack mechanism is formed between the latching wheel 18 and the latching rod 19. An open retaining ring 20 is fixedly provided on one side of the latching rod 19. The roller is latched into the latching assembly through the open retaining ring 20. The working principle of the latching assembly's telescopic movement is as follows: when the latching wheel 18 is rotated, the gear and rack mechanism formed between the latching wheel 18 and the latching rod 19 converts the rotational motion of the latching wheel 18 into the horizontal movement of the latching rod 19, thereby realizing the horizontal movement of the latched roller.

[0057] Based on the working principle of the buckle assembly extension movement, the rotation of the buckle wheel 18 is used as the power of extension, and the rotation power of the buckle wheel 18 comes from the buckle extension drive assembly. The buckle extension drive assembly includes a driving part, an extension transmission main gear 21, a plurality of extension transmission secondary gears 22, a plurality of extension transmission rods 23 and a plurality of extension transmission sleeve rods 24. The driving part is in transmission connection with the extension transmission main gear 21. The extension transmission main gear 21 is in meshing cooperation with the extension transmission secondary gears 22. The inner side of the extension transmission secondary gears 22 is provided with internal threads. The outer side of the extension transmission rods 23 is provided with external threads. The extension transmission secondary gears 22 and the extension transmission rods 23 are in meshing cooperation through the internal threads and the external threads. The extension transmission sleeve rods 24 are in sleeve cooperation with the extension transmission rods 23. The buckle wheel 18 located on the lower buckle support 12 is fixedly connected with the extension transmission rod 23. The buckle wheel 18 located on the upper buckle lifting platform 13 is fixedly connected with the extension transmission sleeve rod 24.

[0058] In the above embodiment, the working principle of the buckle extension drive assembly is that the controller controls the driving part to start. The driving part drives the extension transmission main gear 21 to rotate. Since the extension transmission main gear 21 is in meshing cooperation with the extension transmission secondary gears 22, the extension transmission secondary gears 22 can be driven to rotate. Since the extension transmission secondary gears 22 and the extension transmission rods 23 are in meshing cooperation through the internal threads and the external threads, the rotation of the extension transmission secondary gears 22 is transmitted to the extension transmission rods 23 and the extension transmission sleeve rods 24, thereby driving the buckle wheel 18 fixedly connected with the extension transmission rod 23 to rotate and driving the buckle wheel 18 fixedly connected with the extension transmission sleeve rod 24 to rotate.

[0059] In combination with the foregoing embodiment, since the height of the buckle wheel 18 located on the upper buckle lifting platform 13 changes, in order to adapt to the height change, the sleeve cooperation between the extension transmission sleeve rod 24 and the extension transmission rod 23 is utilized in the present embodiment. When the height changes, the depth of the sleeve cooperation of the extension transmission sleeve rod 24 decreases, thereby adapting to the height change. The transmission of the rotation movement between the extension transmission sleeve rod 24 and the extension transmission rod 23 can be realized through a simple structure, for example, a long groove is arranged on the inner wall of the extension transmission sleeve rod 24, and a protrusion similar to a flat key is arranged on the outer wall of the extension transmission rod 23. Through the cooperation of the long groove and the protrusion, the transmission of the torque is realized. Similarly, a long strip protrusion similar to a flat key can be arranged on the inner wall of the extension transmission sleeve rod 24, and a long groove is arranged on the outer wall of the extension transmission rod 23. Through the cooperation of the long groove and the protrusion, the transmission of the torque is realized. These structures can still play a role when the depth of the sleeve cooperation of the extension transmission sleeve rod 24 changes.

[0060] On the basis of the above-mentioned buckle telescopic drive assembly, further improvements can be made as follows: the drive part comprises a third motor 47 and a telescopic transmission hollow wheel 48; the third motor 47 is electrically connected with the controller; the third motor 47 is fixedly arranged on the rack 10, the telescopic transmission hollow wheel 48 is sleeved on the outside of the height adjustment transmission hollow wheel 37, the third motor 47 and the telescopic transmission hollow wheel 48 are in transmission connection, and the telescopic transmission main gear 21 is fixedly arranged at one end of the telescopic transmission hollow wheel 48.

[0061] The above-mentioned embodiment further proposes a feasible scheme of the drive part, and the principle is that the controller controls the third motor 47 to start, the third motor 47 transmits torque to the telescopic transmission hollow wheel 48, the telescopic transmission hollow wheel 48 rotates to drive the rotation of the telescopic transmission main gear 21, that is, the rotation of the buckle wheel 18 fixedly connected with the telescopic transmission rod 23 can be finally driven, and the rotation of the buckle wheel 18 fixedly connected with the telescopic transmission sleeve rod 24 can be driven.

[0062] In a further embodiment, a third main bevel gear 49, a third drive transmission rod 50, a third secondary bevel gear 51, a third main sprocket 52, a third secondary sprocket 53 and a third chain 54 are further included. The third main bevel gear 49 is fixedly arranged at the output end of the third motor 47, the third drive transmission rod 50 is movably arranged on the rack 10, the third secondary bevel gear 51 is fixedly arranged at one end of the third drive transmission rod 50, the third main bevel gear 49 is in meshing with the third secondary bevel gear 51, the third main sprocket 52 is arranged at the other end of the third drive transmission rod 50, the third secondary sprocket 53 is fixedly arranged at the bottom of the height adjustment transmission hollow wheel 37, and the third main sprocket 52 and the third secondary sprocket 53 are in transmission connection through the third chain 54.

[0063] On the basis of the above-mentioned feasible scheme of the drive part, this embodiment proposes a power transmission mode between the third motor 47 and the telescopic transmission hollow wheel 48, and the principle is that the third motor 47 can output torque to the third drive transmission rod 50 through the meshing of the third main bevel gear 49 and the third secondary bevel gear 51, and then transmit the torque to the telescopic transmission hollow wheel 48 through the third main sprocket 52, the third secondary sprocket 53 and the third chain 54.

[0064] In combination with all the foregoing embodiments, it can be known that the lifting transmission shaft 26, the height adjustment transmission hollow wheel 37 and the telescopic transmission hollow wheel 48 are sequentially sleeved from inside to outside, which avoids mutual interference in the power transmission process and also reduces the overall volume to a certain extent.

[0065] For all the foregoing embodiments, the buckle assembly can be configured according to the specifications of the planetary roller screw to be assembled, specifically according to the number of rollers of the product, the number of the clamp lifting assembly, the upper buckle lifting assembly and the buckle telescopic driving assembly matched with the buckle assembly, or the number of the internal related structures, which should also be set according to the actual product.

[0066] The above describes the present application and its embodiments in a schematic manner, which is not restrictive, and the drawings only show one of the embodiments of the present application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired thereby, without departing from the purpose of the present application, similar structural modes and embodiments are designed without creativity, which should all belong to the protection scope of the present application.

Claims

1. A planetary roller screw assembly device, characterized in that, Includes a frame (10), a clamp lifting assembly, a clamp lifting platform (11), a clamp mechanism, several buckle assemblies, a lower buckle bracket (12), an upper buckle lifting platform (13), an upper buckle lifting assembly, a buckle telescopic drive assembly, and a controller; The clamp lifting assembly is used to drive the clamp lifting platform (11) to lift and lower, and the upper buckle lifting assembly is used to drive the upper buckle lifting platform (13) to lift and lower; the upper buckle lifting platform (13) is located on the upper side of the frame (10), and the lower buckle bracket (12) is located between the frame (10) and the upper buckle lifting platform (13), and the lower buckle bracket (12) is fixedly connected to the frame (10); The clamping mechanism includes a clamp threaded platform (14), a clamp rotating platform (15), an inner bracket (16), a retainer clamp assembly, a screw clamp support (17), and a screw clamp assembly; the clamp lifting platform (11) has an assembly cavity (110) on its upper side, the clamp threaded platform (14) is located in the assembly cavity (110), and the outer circumferential wall of the clamp threaded platform (14) is threadedly engaged with the inner circumferential wall of the assembly cavity (110); the inner bracket (16) is disposed on the clamp threaded platform (14), and the middle part of the inner bracket (16) protrudes to one side to form a connecting seat (160). The connecting seat (160) passes through the center of the clamp lifting platform (11) and the clamp rotating platform (15); the clamp rotating platform (15) is annular, the inner annular surface of the clamp rotating platform (15) is movably engaged with the outer circumferential surface of the inner bracket (16), and the outer annular surface of the clamp rotating platform (15) abuts against the inner wall of the clamp threaded platform (14); the screw clamp bracket (17) is fixed on the clamp lifting platform (11), the screw clamp assembly is disposed on the screw clamp bracket (17), and the retainer clamp assembly is disposed on the clamp rotating platform (15) and the inner bracket (16); The buckle assembly is located on the lower buckle bracket (12) and the upper buckle lifting platform (13). The buckle assembly includes a buckle wheel (18) and a buckle rod (19). The lower buckle bracket (12) and the upper buckle lifting platform (13) are provided with a plurality of limiting slots. The buckle rod (19) is movably engaged with the limiting slots. The buckle wheel (18) and the buckle rod (19) form a gear and rack engagement. An open buckle ring (20) is fixedly provided on one side of the buckle rod (19). The snap-fit ​​telescopic drive assembly includes a drive unit, a telescopic transmission main gear (21), several telescopic transmission secondary gears (22), several telescopic transmission rods (23), and several telescopic transmission sleeves (24). The drive unit is connected to the telescopic transmission main gear (21) for transmission. The telescopic transmission main gear (21) meshes with the telescopic transmission secondary gears (22). The telescopic transmission secondary gears (22) have internal threads on their inner sides, and the telescopic transmission rods (23) have external threads on their outer sides. The telescopic transmission secondary gears (22) and the telescopic transmission rods (23) mesh with each other through the internal and external threads. The telescopic transmission sleeves (24) are sleeved with the telescopic transmission rods (23). The snap-fit ​​wheel (18) located on the lower snap-fit ​​bracket (12) is fixedly connected to the telescopic transmission rods (23), and the snap-fit ​​wheel (18) located on the upper snap-fit ​​lifting platform (13) is fixedly connected to the telescopic transmission sleeves (24). The clamp lifting assembly, the upper buckle lifting assembly, and the drive unit are all electrically connected to the controller.

2. The planetary roller screw assembly device according to claim 1, characterized in that, The clamp lifting assembly includes a first motor (25), a lifting transmission shaft (26), a first main gear (27), a plurality of first auxiliary gears (28), and a plurality of first lifting screws (29); the first motor (25) is electrically connected to the controller; The first motor (25) is fixed on the frame (10), and the lifting transmission shaft (26) is movably mounted on the frame (10). The lifting transmission shaft (26) is connected to the first motor (25) in a transmission connection. The first main gear (27) is fixed to one end of the lifting transmission shaft (26). Several first auxiliary gears (28) mesh with the first main gear (27). The inner side of the first auxiliary gear (28) is provided with an internal thread. Each first auxiliary gear (28) is threadedly meshed with the corresponding first lifting screw (29) through the internal thread. The top of the first lifting screw (29) is movably connected to the bottom of the clamp lifting platform (11).

3. The planetary roller screw assembly device according to claim 2, characterized in that, It also includes a first main bevel gear (30), a first drive transmission rod (31), a first secondary bevel gear (32), a first main sprocket (33), a first secondary sprocket (34), and a first chain (35); The first main bevel gear (30) is fixedly mounted on the output end of the first motor (25), the first drive transmission rod (31) is movably mounted on the frame (10), the first secondary bevel gear (32) is fixedly mounted on one end of the first drive transmission rod (31), the first main bevel gear (30) meshes with the first secondary bevel gear (32), the first main sprocket (33) is mounted on the other end of the first drive transmission rod (31), the first secondary sprocket (34) is fixedly mounted on the bottom end of the lifting transmission shaft (26), and the first main sprocket (33) and the first secondary sprocket (34) are connected by the first chain (35).

4. The planetary roller screw assembly device according to claim 2, characterized in that, The upper buckle lifting assembly includes a second motor (36), a height adjustment transmission hollow wheel (37), a second main gear (38), several second auxiliary gears (39), and several second lifting screws (40); the second motor (36) is electrically connected to the controller; The second motor (36) is fixed on the frame (10). The height adjustment transmission hollow wheel (37) is sleeved on the outside of the lifting transmission shaft (26). The lifting transmission shaft (26) is connected to the second motor (36) for transmission. The second main gear (38) is fixed to one end of the height adjustment transmission hollow wheel (37). Several second auxiliary gears (39) mesh with the second main gear (38). The inner side of the second auxiliary gear (39) is provided with internal threads. Each second auxiliary gear (39) is threaded with the corresponding second lifting screw (40) through the internal threads. The top of the second lifting screw (40) is movably connected to the bottom of the upper snap-on lifting platform (13).

5. The planetary roller screw assembly device according to claim 4, characterized in that, It also includes a second main bevel gear (41), a second drive transmission rod, a second auxiliary bevel gear (43), a second main sprocket, a second auxiliary sprocket (45), and a second chain; The second main bevel gear (41) is fixedly mounted on the output end of the second motor (36), the second drive transmission rod is movably mounted on the frame (10), the second auxiliary bevel gear (43) is fixedly mounted on one end of the second drive transmission rod, the second main bevel gear (41) meshes with the second auxiliary bevel gear (43), the second main sprocket is mounted on the other end of the second drive transmission rod, the second auxiliary sprocket (45) is fixedly mounted on the bottom of the height adjustment transmission hollow wheel (37), and the second main sprocket and the second auxiliary sprocket (45) are connected by the second chain drive.

6. The planetary roller screw assembly device according to claim 4, characterized in that, The drive unit includes a third motor (47) and a telescopic transmission hollow wheel (48); the third motor (47) is electrically connected to the controller; the third motor (47) is fixed on the frame (10), the telescopic transmission hollow wheel (48) is sleeved on the outside of the height adjustment transmission hollow wheel (37), the third motor (47) and the telescopic transmission hollow wheel (48) are connected in transmission, and the telescopic transmission main gear (21) is fixedly set at one end of the telescopic transmission hollow wheel (48).

7. The planetary roller screw assembly device according to claim 6, characterized in that, It also includes a third main bevel gear (49), a third drive transmission rod (50), a third auxiliary bevel gear (51), a third main sprocket (52), a third auxiliary sprocket (53), and a third chain (54); The third main bevel gear (49) is fixedly mounted on the output end of the third motor (47), the third drive transmission rod (50) is movably mounted on the frame (10), the third auxiliary bevel gear (51) is fixedly mounted on one end of the third drive transmission rod (50), the third main bevel gear (49) meshes with the third auxiliary bevel gear (51), the third main sprocket (52) is mounted on the other end of the third drive transmission rod (50), the third auxiliary sprocket (53) is fixedly mounted on the bottom of the height adjustment transmission hollow wheel (37), and the third main sprocket (52) and the third auxiliary sprocket (53) are connected by the third chain (54).

8. The planetary roller screw assembly device according to claim 1, characterized in that, The cage clamp assembly includes a plurality of cage clamping rods (55), a first clamping elastic band (56), a first expansion plate (57), a first compression spring (58), a first threaded fastener (59), and a first nut (60); A plurality of retainer clamping rods (55) are distributed circumferentially on the fixture rotary table (15), and one end of each retainer clamping rod (55) is hinged to the rotary table. A first clamping elastic band (56) is sleeved on the outside of the circumferential structure formed by the upper ends of the retainer clamping rods (55). The diameter of the circumferential structure formed by the upper ends of the retainer clamping rods (55) is smaller than the diameter of the circumferential structure formed by the lower ends of the retainer clamping rods (55). A first adjusting section (550) is provided in the middle of each retainer clamping rod (55). The first adjustment section (550) forms a cone-shaped structure that is smaller at the top and larger at the bottom. The first expansion plate (57) is located inside the cone-shaped structure formed by the first adjustment section (550) and abuts against the inner side of the first adjustment section (550). The first compression spring (58) is located between the first expansion plate (57) and the inner bracket (16). The first threaded fastener (59) passes through the first expansion plate (57), the first compression spring (58) and the inner bracket (16) and is fixedly connected by the first nut (60).

9. A planetary roller screw assembly device according to claim 1, characterized in that, The lead screw clamp assembly includes several lead screw clamps (61), a second clamping elastic band (62), a second expansion plate (63), a second compression spring (64), a second threaded fastener (65), and a second nut (66); Several lead screw clamps (61) are distributed circumferentially on the lead screw clamp bracket (17), and one end of each lead screw clamp (61) is hinged to the lead screw clamp bracket (17). The second clamping elastic band (62) is sleeved on the outside of the circumferential structure formed by the upper ends of the lead screw clamps (61). The diameter of the circumferential structure formed by the upper ends of the lead screw clamps (61) is smaller than the diameter of the circumferential structure formed by the lower ends of the lead screw clamps (61). A second adjusting section (610) is provided in the middle of each lead screw clamp (61). The second adjustment section (610) forms a cone-shaped structure that is smaller at the top and larger at the bottom. The second expansion plate (63) is located inside the cone-shaped structure formed by the second adjustment section (610) and abuts against the inner side of the second adjustment section (610). The second compression spring (64) is located between the second expansion plate (63) and the lead screw clamp bracket (17). The second threaded fastener (65) passes through the second expansion plate (63), the second compression spring (64) and the lead screw clamp bracket (17) and is fixedly connected by the second nut (66).

10. An assembly method, comprising the planetary roller screw assembly device according to any one of claims 1-9, characterized in that, include: Fix the cage to the cage clamp assembly, fix the lead screw to the lead screw clamp assembly, and rotate the clamp thread table (14) to adjust the height of the cage clamp assembly so that the cage is below the end plane of the lead screw; Based on the actual length of the roller and the lead screw, the controller is used to control the clamp lifting assembly to adjust the height of the clamp mechanism, and the controller is used to control the upper buckle lifting assembly to adjust the height of the buckle assembly located on the upper buckle lifting platform (13). Insert the roller into the retaining ring (20) located on the lower retaining bracket (12) and the upper retaining lifting platform (13) according to the calculated angle and length; The controller is used to control the drive unit of the snap-fit ​​telescopic drive assembly to engage the roller with the lead screw; Rotate the clamp thread table (14) to adjust the height of the cage clamp assembly so that the cage engages with the lead screw and rollers; The controller is used to control the drive unit of the buckle extension drive assembly to retract the retaining ring (20); The controller is used to control the clamp lifting assembly to adjust the height of the clamp mechanism, raise the assembly, screw in the lead screw nut, and loosen the cage clamp assembly and the lead screw clamp assembly. The cage retaining ring is then installed to successfully install the entire planetary roller screw pair.

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