A machining device for a planetary gear shaft

Abstract

The application relates to the technical field of gear shaft welding, and particularly discloses a machining device for a planetary gear shaft, which comprises a base, a mechanical arm body, a welding gun, a material pushing structure, a material discharging structure and a butt joint structure. The base is convex, and the base has left and right ends and a front end. The mechanical arm body is fixedly arranged on the upper wall of the front end of the base. The welding gun is fixedly arranged on the mechanical arm body. The material pushing structure is fixedly arranged on the upper wall of the right end of the base. The material discharging structure is fixedly arranged on the upper wall of the base and close to the material pushing structure. The butt joint structure is fixedly arranged on the upper wall of the left end of the base. The machining device realizes efficient, flexible and automatic operation of gear shaft welding through innovative mechanical design and automatic technology, has the advantages of high adaptability, high efficiency and stability, cost reduction, easy maintenance, welding quality improvement and the like, and is suitable for various industries and customized production requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gear shaft welding, in particular to a machining device for planetary gear shafts. BACKGROUND

[0002] Gear shaft welding is a common mechanical processing technology, mainly used to connect gears and shafts together through welding; this technology is widely used in mechanical manufacturing, automobile industry, aerospace and other fields, and is mainly in the form of arc welding, laser welding and friction welding; however, although the existing welding equipment realizes mechanical automatic welding, the workpiece shaft and the workpiece gear are usually put in by manual feeding in sequence, and the automatic welding equipment is usually designed for specific specifications of gear shafts, so that different sizes, shapes or materials of gear shafts may need to be re-adjusted or replaced with clamps, reducing flexibility. SUMMARY

[0003] The purpose of the present application is to provide a machining device for planetary gear shafts to solve the problems raised in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a machining device for planetary gear shafts, comprising a base, a mechanical arm body, a welding gun, a pushing structure, a feeding structure and a docking structure; the base is convex, having left and right ends and a front end, the mechanical arm body is fixedly arranged on the upper wall of the front end of the base, the welding gun is fixedly arranged on the mechanical arm body, the pushing structure is fixedly arranged on the upper wall of the right end of the base, the feeding structure is fixedly arranged on the upper wall of the base and close to the pushing structure, and the docking structure is fixedly arranged on the upper wall of the left end of the base; the mechanical arm body is used for automatically moving the welding gun for automatic welding, the feeding structure is used for limiting and stacking the gears, and the pushing structure is used for pushing the gears at the bottom of the feeding structure into the docking structure.

[0005] Preferably, the pushing structure comprises a pushing seat, a first electric sliding rail, a pushing plate, a pushing plate and a pair of springs; the pushing seat is fixedly arranged on the upper wall of the base and located on the right side of the mechanical arm body, the first electric sliding rail is fixedly arranged on the upper wall of the right end of the base, one end of the pushing plate is fixedly arranged on the first electric sliding rail and the pushing plate moves left and right, the other end of the pushing plate is located above the pushing seat, a turning opening is arranged in the middle of the other end of the pushing plate, a pair of telescopic openings are symmetrically arranged in the right side wall of the turning opening, the pushing plate is movably embedded in the turning opening of the pushing plate, and the upper wall of the pushing plate is located above the pushing plate; one end of a pair of springs is respectively fixedly inserted into the telescopic openings, and the other end of the springs is respectively fixedly connected to the right side wall of the pushing plate; the pushing plate cannot be turned to the right.

[0006] Preferably, the blanking structure comprises a height-adjusting slide rail, a height-adjusting frame, a width-adjusting slide rail, a position-adjusting frame, a second electric slide rail and a pair of fixed wheel units; one end of the height-adjusting slide rail is fixedly arranged on the upper arm of the base and located at the right side of the material pushing seat, the height-adjusting slide rail is located at the rear side of the first electric slide rail, one end of the height-adjusting frame is fixedly arranged on the height-adjusting slide rail and the height-adjusting frame moves up and down, one end of the width-adjusting slide rail is fixedly arranged on the other end of the height-adjusting frame and the width-adjusting slide rail is located above the material pushing seat, a pair of width-adjusting seats that move relative to each other are symmetrically arranged on the width-adjusting slide rail, one end of the position-adjusting frame is fixedly arranged on one of the width-adjusting seats on the width-adjusting slide rail, one end of the second electric slide rail is fixedly arranged on the other width-adjusting seat on the width-adjusting slide rail, one of the pair of fixed wheel units is fixedly arranged on the second electric slide rail and located above the material pushing seat, and the other fixed wheel unit is movably arranged on the position-adjusting frame, and the pair of fixed wheel units are located above the material pushing seat and are symmetrical to each other.

[0007] Preferably, the fixed wheel unit comprises a limiting seat, a pair of first bolts, a mounting rod, a pair of second bolts and a single-tooth frame; one end of the limiting seat is fixedly arranged on the second electric slide rail, the pair of first bolts are movably screwed into the inner walls of the upper and lower ends of the limiting seat respectively, the mounting rod is movably inserted into the limiting seat and fixed by the first bolts, the pair of second bolts are movably screwed into the upper and lower ends of the mounting rod respectively, and the single-tooth frame is movably arranged on the upper and lower ends of the mounting rod and movably sleeved on the second bolts.

[0008] Preferably, the docking structure comprises a turnover assembly, a limiting wheel assembly and a fixed shaft assembly; the turnover assembly is fixedly arranged on the left end of the base and corresponds to the material pushing seat, the limiting wheel assembly is fixedly arranged on the turnover assembly, and the fixed shaft assembly is fixedly arranged on the turnover assembly and located above the limiting wheel assembly.

[0009] Preferably, the turnover assembly comprises a turnover frame, a shaft rod, a turnover seat, a gear, a third electric slide rail and a rack; the turnover frame is concave, the turnover frame is fixedly arranged on the middle part of the upper wall of the left end of the base, the shaft rod is movably penetrated through the two ends of the turnover frame, the turnover seat is L-shaped, the middle part of the turnover seat is fixedly sleeved on the middle part of the shaft rod and movably embedded in the turnover frame, the gear is fixedly sleeved on the front end of the shaft rod, the third electric slide rail is fixedly arranged on the left end of the base and located at the front side of the turnover frame, the rack is fixedly arranged on the third electric slide rail and located below the gear, and the rack is engaged with the gear.

[0010] Preferably, the limiting wheel assembly comprises a machining table, a fourth electric sliding rail and a pair of clamping arms; the machining table is fixedly arranged on the right end of the turnover seat, and the machining table is located on the left side of the material pushing seat and close to the material pushing seat; the upper wall of the machining table is on the same horizontal plane as the upper wall of the material pushing seat, and the machining table corresponds to the main body of the mechanical arm; the fourth electric sliding rail is fixedly arranged on the upper wall of the right end of the turnover seat; the fourth electric sliding rail is located on the front and rear sides of the turnover seat respectively, and a fourth movable seat for relative movement is symmetrically arranged on the fourth electric sliding rail; one end of the pair of clamping arms is fixedly arranged on the fourth movable seat of the fourth electric sliding rail respectively, and the other end of the clamping arms is respectively attached to the upper wall of the machining table.

[0011] Preferably, the fixed shaft assembly comprises a docking sliding rail, a drag plate, a mechanical claw main body and a camera.

[0012] The docking sliding rail is a T-shaped sliding rail, which is fixedly arranged on the left end of the turnover seat; one end of the drag plate is fixedly arranged on the docking sliding rail, and the drag plate moves up and down and moves left and right; the mechanical claw main body is fixedly arranged on the other end of the drag plate; the mechanical claw main body is located above the machining table, and opposite clamping jaws are symmetrically arranged on the mechanical claw main body; the camera is fixedly arranged on the lower wall of the other end of the drag plate.

[0013] Preferably, the turnover seat drives the limiting wheel assembly and the fixed shaft assembly to turn left by a certain angle.

[0014] The machining device for the planetary gear shaft has the beneficial effects that:

[0015] 1. The automatic feeding and pushing of the gear are realized through the feeding structure and the pushing structure, manual intervention is reduced, production efficiency is improved, the automatic docking and welding of the gear and the shaft are realized through the turnover assembly and the fixed shaft assembly, and the automation level is further improved.

[0016] 2. The feeding structure supports the adjustment of gears with different thicknesses, and meets the welding requirements of gears of various specifications.

[0017] 3. The gear is fed by using its own gravity, the mechanical structure is simplified, the stability and reliability of the feeding are improved, and the limiting wheel assembly and the fixed shaft assembly ensure the precise docking of the gear and the shaft, thereby providing a stable basis for welding.

[0018] 4. The angle of the gear and the shaft can be adjusted according to the welding requirements through the turnover assembly, which is convenient for welding processing and improves the welding quality and efficiency; the equipment supports welding processing of different gears, and meets the batch production requirements.

[0019] In summary, the present application realizes efficient, flexible and automatic operation of gear shaft welding through innovative mechanical design and automation technology, has the advantages of high adaptability, efficient stability, cost reduction, easy maintenance and improved welding quality, and is suitable for various industries and customized production needs. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic view of the assembly structure of the present application;

[0021] Figure 2 is a schematic view of the split structure of the pushing structure;

[0022] Figure 3 is a schematic view of the split structure of the feeding structure;

[0023] Figure 4 is a schematic view of the split structure of the docking structure;

[0024] Figure 5 is a schematic view of the assembly structure of the feeding structure;

[0025] Figure 6 is a schematic view of the assembly structure of the docking structure;

[0026] Figure 7 is a schematic view of the local enlarged structure at A in Figure 2

[0027] is a schematic view of the local enlarged structure at B in Figure 8 Figure 1 is a schematic view of the local enlarged structure at C in

[0028] Figure 9 Figure 1 .

[0029] In the figure: 1, base, 2, mechanical arm main body, 3, welding gun, 4, pushing structure, 41, pushing seat, 42, first electric sliding rail, 43, pushing plate, 44, pushing plate, 45, spring, 5, feeding structure, 51, height adjustment sliding rail, 52, height adjustment frame, 53, width adjustment sliding rail, 54, position adjustment frame, 55, second electric sliding rail, 56, fixed wheel unit, 561, limiting seat, 562, first bolt, 563, mounting rod, 564, second bolt, 565, single tooth frame, 6, overturning assembly, 61, overturning frame, 62, shaft rod, 63, overturning seat, 64, gear, 65, third electric sliding rail, 66, rack, 7, limiting wheel assembly, 71, processing table, 72, fourth electric sliding rail, 73, clamping arm, 8, fixed shaft assembly, 81, docking sliding rail, 82, dragging plate, 83, mechanical claw main body, 84, camera. DETAILED DESCRIPTION

[0030] ​​Clearly, the embodiments described are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0031] As shown in Figures 1-9 , the present application provides a technical scheme: a machining device for planetary gear shaft, comprising a base 1, a mechanical arm body 2, a welding gun 3, a pushing structure 4, a blanking structure 5 and a butt joint structure; the base 1 is convex, the base 1 has left and right ends and a front end, the mechanical arm body 2 is fixedly arranged on the front end upper wall of the base 1, the welding gun 3 is fixedly arranged on the mechanical arm body 2, the pushing structure 4 is fixedly arranged on the right end upper wall of the base 1, the blanking structure 5 is fixedly arranged on the upper wall of the base 1 and close to the pushing structure 4, and the butt joint structure is fixedly arranged on the left end upper wall of the base 1; the mechanical arm body 2 is used for automatically moving the welding gun 3 for automatic welding, the blanking structure 5 is used for limiting, stacking and placing the gears, the pushing structure 4 is used for pushing the gears at the bottom of the blanking structure 5 into the butt joint structure, and the butt joint structure is used for fixing, limiting and stably butt joining the gears and shafts.

[0032] As shown in Figure 2 and Figure 7 , the pushing structure 4 comprises a pushing seat 41, a first electric sliding rail 42, a pushing plate 43, a pushing plate 44 and a pair of springs 45; the pushing seat 41 is fixedly arranged on the upper wall of the base 1 and located on the right side of the mechanical arm body 2, the first electric sliding rail 42 is fixedly arranged on the right end upper wall of the base 1, the pushing plate 43 is fixedly arranged on one end of the first electric sliding rail 42 and moves left and right, the other end of the pushing plate 43 is located above the pushing seat 41, a turnover opening is arranged on the other end of the pushing plate 43, a pair of telescopic openings are symmetrically arranged on the right side wall in the turnover opening, the pushing plate 44 is movably embedded in the turnover opening of the pushing plate 43, the upper wall of the pushing plate 44 is located above the pushing plate 44, and one end of the pair of springs 45 is respectively fixedly inserted into the telescopic openings, and the other end of the springs 45 is respectively fixedly connected to the right side wall of the pushing plate 44; the pushing seat 41 carries materials, the first electric sliding rail 42 drives the pushing plate 43 to move from right to left to exert force and push, and the pushing plate 44 is pushed by force.

[0033] As shown in Figure 3 and Figure 8As shown, the blanking structure 5 includes a height adjustment slide rail 51, a height adjustment frame 52, a width adjustment slide rail 53, a position adjustment frame 54, a second electric slide rail 55, and a pair of fixed wheel units 56; one end of the height adjustment slide rail 51 is fixedly arranged on the upper arm of the base 1 and located on the right side of the material pushing seat 41, the height adjustment slide rail 51 is located on the rear side of the first electric slide rail 42, one end of the height adjustment frame 52 is fixedly arranged on the height adjustment slide rail 51 and the height adjustment frame 52 moves up and down, one end of the width adjustment slide rail 53 is fixedly arranged on the other end of the height adjustment frame 52, and the width adjustment slide rail 53 is located above the material pushing seat 41, a pair of width adjustment seats that move relative to each other are symmetrically arranged on the width adjustment slide rail 53, one end of the position adjustment frame 54 is fixedly arranged on one of the width adjustment seats on the width adjustment slide rail 53, one end of the second electric slide rail 55 is fixedly arranged on the other width adjustment seat on the width adjustment slide rail 53, one of the fixed wheel units 56 is fixedly arranged on the second electric slide rail 55 and located above the material pushing seat 41, the other fixed wheel unit 56 is movably arranged on the position adjustment frame 54, and the pair of fixed wheel units 56 are located above the material pushing seat 41 and are relatively symmetrical; the fixed wheel units 56 are lifted by the height adjustment slide rail 51, and the height of the fixed wheel units 56 above the material pushing seat 41 is adjusted according to the thickness of the gear, the width adjustment slide rail 53 is lifted by the height adjustment frame 52, the relative distance between the two fixed wheel units 56 is adjusted by the width adjustment slide rail 53, and one of the fixed wheel units 56 is staggered relative to the other fixed wheel unit 56 by the second electric slide rail 55.

[0034] As shown in Figure 3 and Figure 5 , the fixed wheel unit 56 includes a limiting seat 561, a pair of first bolts 562, a mounting rod 563, a pair of second bolts 564, and a single tooth frame 565; one end of the limiting seat 561 is fixedly arranged on the second electric slide rail 55, a pair of first bolts 562 are movably screwed into the inner walls of the upper and lower end sides of the limiting seat 561 respectively, the mounting rod 563 is movably inserted into the limiting seat 561 and is fixed by the first bolts 562, a pair of second bolts 564 are movably screwed into the upper and lower ends of the mounting rod 563 respectively, and the single tooth frame 565 is movably arranged on the upper and lower ends of the mounting rod 563 respectively, and the two ends of the single tooth frame 565 are movably sleeved on the second bolts 564 respectively; the mounting rod 563 is detachably installed by the limiting seat 561, the single tooth frame 565 is carried by the mounting rod 563, and the single tooth frame 565 is rotated by a certain angle to fit gears of different diameters and tooth numbers, and the single tooth frame 565 is inserted into the gear pitch to limit the gear.

[0035] As shown in Figure 4 , the docking structure includes a turnover assembly 6, a limiting wheel assembly 7, and a fixed shaft assembly 8; the turnover assembly 6 is fixedly arranged on the left end of the base 1 and corresponds to the material pushing seat 41, the limiting wheel assembly 7 is fixedly arranged on the turnover assembly 6, the fixed shaft assembly 8 is fixedly arranged on the turnover assembly 6, and the fixed shaft assembly 8 is located above the limiting wheel assembly 7.

[0036] As shown in Figure 4 and Figure 9 , the turnover assembly 6 includes a turnover frame 61, a shaft rod 62, a turnover seat 63, a gear 64, a third electric sliding rail 65 and a rack 66; the turnover frame 61 is concave, the turnover frame 61 is fixedly arranged on the middle part of the upper wall of the left end of the base 1, the shaft rod 62 is movably penetrated through the two ends of the turnover frame 61, the turnover seat 63 is L-shaped, the middle part of the turnover seat 63 is fixedly sleeved on the middle part of the shaft rod 62, and the middle part of the turnover seat 63 is movably embedded in the turnover frame 61, the gear 64 is fixedly sleeved on the front end of the shaft rod 62, the third electric sliding rail 65 is fixedly arranged on the upper wall of the left end of the base 1 and located on the front side of the turnover frame 61, the rack 66 is fixedly arranged on the third electric sliding rail 65, and the rack 66 is located below the gear 64, the rack 66 is engaged with the gear 64; the shaft rod 62 on the gear 64 is rotated on the turnover frame 61 to drive the turnover seat 63 to turn over a certain angle by driving the rack 66 to move through the third electric sliding rail 65, the limit wheel assembly 7 and the fixed shaft assembly 8 are driven by the turnover seat 63 to turn over a certain angle to the left, which is used for designing to match the welding.

[0037] As shown in Figure 4 , the limit wheel assembly 7 includes a machining table 71, a fourth electric sliding rail 72 and a pair of clamping arms 73; the machining table 71 is fixedly arranged on the right end of the turnover seat 63, and the machining table 71 is located on the left side of the material pushing seat 41 and close to the material pushing seat 41, the upper wall of the machining table 71 is on the same horizontal plane as the upper wall of the material pushing seat 41, and the machining table 71 corresponds to the mechanical arm body 2, the fourth electric sliding rail 72 is fixedly arranged on the upper wall of the right end of the turnover seat 63, the two ends of the fourth electric sliding rail 72 are located on the front and rear sides of the turnover seat 63 respectively, and a fourth moving seat for relative movement is symmetrically arranged on the fourth electric sliding rail 72, one end of each of the pair of clamping arms 73 is fixedly arranged on the fourth moving seat of the fourth electric sliding rail 72, and the other end of each of the clamping arms 73 is attached to the upper wall of the machining table 71; the gear fixed on the machining table 71 is fixed by relatively moving the clamping arms 73 through the fourth electric sliding rail 72.

[0038] As shown in Figure 4 , the fixed shaft assembly 8 includes a butt joint sliding rail 81, a drag plate 82, a mechanical claw body 83 and a camera 84; the butt joint sliding rail 81 is a T-shaped sliding rail, the butt joint sliding rail 81 is fixedly arranged on the left end of the turnover seat 63, one end of the drag plate 82 is fixedly arranged on the butt joint sliding rail 81, and the drag plate 82 moves up and down and moves left and right, the mechanical claw body 83 is fixedly arranged on the other end of the drag plate 82, the mechanical claw body 83 is located above the machining table 71, and the mechanical claw body 83 is symmetrically provided with opposite clamping claws on the upper wall, and the camera 84 is fixedly arranged on the lower wall of the other end of the drag plate 82; the shaft rod is clamped by the mechanical claw body 83, the shaft rod moves up and down and moves left and right by the butt joint sliding rail 81, and the shaft rod is butt jointed in the middle part of the gear by imaging with the camera 84.

[0039] Its detailed connection means is the technology known in the art, the working principle and process are mainly introduced below, and the specific work is as follows.

[0040] S1. Place the device stably through the base 1, select the corresponding welding gun 3 according to the processing requirements, and install the welding gun 3 on the mechanical arm body 2. The welding gun 3 is driven by the mechanical arm body 2 to realize flexible walking welding and automatic processing.

[0041] S2. The gears to be processed can be sequentially stacked and placed between the fixed wheel units 56 in the feeding structure 5; that is, the gears are placed between two single tooth racks 565, and the single tooth racks 565 are clamped into the gear spacing of the gears to be processed to limit the gears.

[0042] S3. According to the diameter of the gear to be processed, the fixed wheel units 56 on the positioning frame 54 driven by the width adjusting slide rail 53 and the fixed wheel units 56 on the second electric slide rail 55 can be moved to adjust the relative distance of the single tooth racks 565; secondly, the relative angle of the single tooth racks 565 can also be adjusted by the second bolt 564 to enhance the fit and limit of gears of different sizes; and the second electric slide rail 55 can also drive the fixed wheel units 56 to translate to form two fixed wheel units 56 arranged relatively staggered, so that the corresponding single tooth racks 565 can be effectively inserted into the gear spacing of the gears to be processed for limiting.

[0043] S4. After the gears are stacked and placed, according to the thickness of the gears, the height adjusting slide rail 51 is driven to drive the width adjusting slide rail 53 on the height adjusting frame 52 to rise to the corresponding height, so that the bottommost gear is located on the upper wall of the material pushing seat 41 without obstruction.

[0044] S5. At this time, the first electric slide rail 42 in the material pushing structure 4 can drive the pushing plate 43 to move from right to left, so that the left end of the material returning plate is located on the upper wall of the material pushing seat 41 and moves to the left, that is, the pushing plate 44 can push the gears by force (the thickness of the gears needs to be higher than the height of the pushing plate 44); the gears are pushed from the material pushing seat 41 to the processing table 71 of the limiting wheel assembly 7; and the gears between the fixed wheel units 56 fall to the pushing plate 43 in turn due to the loss of the bottom gear 64, when the pushing plate 43 moves to the right and resets, the pushing plate 44 is turned to the left again and passes through the bottom of the gear to reset vertically with the help of the spring 45, and then the pushing plate 44 can be pushed again.

[0045] S6. After the gears are located on the processing table 71, the camera 84 in the fixed shaft assembly 8 can image and detect, so that the fourth electric slide rail 72 can drive the two clamping arms 73 to move relatively to center and clamp the gears.

[0046] S7. Then the corresponding shaft rod can be inserted between the clamping jaws of the mechanical jaw body 83 to be vertically clamped by the mechanical clamping jaw body; the mechanical jaw body 83 on the drag plate 82 is driven to ascend and descend and move left and right to correct the position through the butt joint slide rail 81, so that the bottom end of the shaft rod is pressed and combined in the middle of the gear to perform butt joint limiting;

[0047] S8. Finally, the third electric slide rail 65 in the turnover assembly 6 can be driven to drive the rack 66 to move left and right, the gear 64 and the shaft rod 62 are driven to rotate on the turnover frame 61 through the rack 66, and then the left turnover seat 63 is driven to rotate left, that is, the gear and the shaft on the fixed shaft assembly 8 and the limiting wheel assembly 7 are driven to rotate synchronously after being combined, and then a certain angle is tilted, so that the mechanical arm body 2 drives the welding gun 3 to weld the butt joint part;

[0048] S9. The device can be pre-set according to the size of the gear to be machined, the size of the pitch and the shape of the gear teeth, and the single tooth frame 565 is used to improve the applicability of the device; at the same time, the single tooth frame 565 is fixed on the mounting rod 563 fixed in the limiting seat 561 through the first bolt 562, and the mounting rod 563 can also be disassembled and directly replaced for use.

[0049] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A machining apparatus for planetary gear shafts, characterized in that, The system includes a base (1), a robotic arm body (2), a welding torch (3), a pushing structure (4), a feeding structure (5), and a docking structure. The docking structure includes a flipping component (6), a wheel limiting component (7), and a shaft fixing component (8). The base (1) is convex and has left and right ends and a front end. The robotic arm body (2) is fixedly mounted on the upper wall of the front end of the base (1). The welding torch (3) is fixedly mounted on the robotic arm body (2). The pushing structure (4) is fixedly mounted on the upper wall of the right end of the base (1). The feeding structure (5) is fixedly mounted on the upper wall of the base (1) and close to the pushing structure (4). The docking structure is fixedly mounted on the upper wall of the left end of the base (1). The robotic arm body (2) is used to automatically move the welding torch (3) for automatic welding. The feeding structure (5) is used to limit and stack the gears. The pushing structure (4) is used to push the bottom gear in the feeding structure (5) into the docking structure. The docking structure is used to fix and limit the gears and shafts and to dock them stably. The feeding structure (5) includes a height adjustment slide rail (51), a height adjustment frame (52), a width adjustment slide rail (53), a position adjustment frame (54), a second electric slide rail (55), and a pair of fixed wheel units (56). One end of the height adjustment slide rail (51) is fixedly mounted on the upper arm of the base (1) and located on the right side of the pusher seat (41). The height adjustment slide rail (51) is located behind the first electric slide rail (42). One end of the height adjustment frame (52) is fixedly mounted on the height adjustment slide rail (51) and the height adjustment frame (52) moves up and down. One end of the width adjustment slide rail (53) is fixedly mounted on the other end of the height adjustment frame (52) and the width adjustment slide rail (53) is located above the pusher seat (41). The width adjustment slide rail (53) is symmetrically equipped with relatively movable... The width adjustment seat, one end of the adjustment frame (54) is fixedly set on one of the width adjustment seats on the width adjustment slide rail (53), one end of the second electric slide rail (55) is fixedly set on the other width adjustment seat on the width adjustment slide rail (53), one of the fixed wheel units (56) is fixedly set on the second electric slide rail (55) and located above the pusher seat (41), and the other fixed wheel unit (56) is movably set on the adjustment frame (54). The pair of fixed wheel units (56) are symmetrically located above the pusher seat (41). The fixed wheel unit (56) includes a limiting seat (561), a pair of first bolts (562), a mounting rod (563), a pair of second bolts (564), and a single toothed frame (565). One end of the limiting seat (561) is fixedly mounted on the second electric slide rail (55). A pair of first bolts (562) are movably screwed into the upper and lower side walls of the limiting seat (561). The mounting rod (563) is movably inserted into the limiting seat (561) and fixed by the first bolts (562). A pair of second bolts (564) are movably screwed into the upper and lower ends of the mounting rod (563). The two ends of the single tooth frame (565) are movably mounted on the upper and lower ends of the mounting rod (563), and the two ends of the single tooth frame (565) are movably fitted onto the second bolts (564). The wheel limiting assembly (7) includes a processing table (71), a fourth electric slide rail (72), and a pair of clamping arms (73); The processing table (71) is fixedly installed on the right end of the flipping seat (63), and the processing table (71) is located on the left side of the pusher seat (41) and close to the pusher seat (41). The upper wall of the processing table (71) and the upper wall of the pusher seat (41) are on the same horizontal plane, and the processing table (71) corresponds to the main body (2) of the robotic arm. The fourth electric slide rail (72) is fixedly installed on the upper wall of the right end of the flipping seat (63). The two ends of the fourth electric slide rail (72) are respectively located on the front and rear sides of the flipping seat (63), and the fourth moving seat is symmetrically arranged on the fourth electric slide rail (72). One end of a pair of clamping arms (73) is fixedly installed on the fourth moving seat of the fourth electric slide rail (72), and the other end of the clamping arms (73) is respectively attached to the upper wall of the processing table (71).

2. The machining apparatus for planetary gear shafts according to claim 1, characterized in that, The pusher structure (4) includes a pusher seat (41), a first electric slide rail (42), a pusher plate (43), a pusher plate (44), and a pair of springs (45). The pusher seat (41) is fixedly installed on the upper wall of the base (1) and located on the right side of the main body (2) of the robotic arm. The first electric slide rail (42) is fixedly installed in the middle of the upper wall of the right end of the base (1). One end of the pusher plate (43) is fixedly installed on the first electric slide rail (42) and the pusher plate (43) moves left and right. The other end of the pusher plate (43) is located above the pusher seat (41). A flip-out is provided in the middle of the other end of the pusher plate (43), and a pair of telescopic openings are symmetrically provided on the right side wall of the flip-out opening. The pusher plate (44) is movably embedded in the flip-out opening of the pusher plate (43), and the upper wall of the pusher plate (44) is located above the pusher plate (44). One end of a pair of springs (45) is fixedly inserted into the telescopic opening, and the other end of the springs (45) is fixedly connected to the right side wall of the pusher plate (44).

3. The machining apparatus for planetary gear shafts according to claim 2, characterized in that, The flipping component (6) is fixedly installed on the left end of the base (1) and the flipping component (6) corresponds to the pusher seat (41). The wheel limiting component (7) is fixedly installed on the flipping component (6). The shaft fixing component (8) is fixedly installed on the flipping component (6) and the shaft fixing component (8) is located above the wheel limiting component (7).

4. The machining apparatus for planetary gear shafts according to claim 3, characterized in that, The flipping assembly (6) includes a flipping frame (61), a shaft (62), a flipping seat (63), a gear (64), a third electric slide rail (65), and a rack (66). The flipping frame (61) is concave and is fixedly installed on the middle of the upper left wall of the base (1). The two ends of the shaft (62) are respectively movably inserted through the two ends of the flipping frame (61). The flipping seat (63) is L-shaped and is fixedly fitted in the middle of the shaft (62). The middle of the flipping seat (63) is movably embedded in the flipping frame (61). The gear (64) is fixedly fitted on the front end of the shaft (62). The third electric slide rail (65) is fixedly installed on the upper left wall of the base (1) and located in front of the flipping frame (61). The rack (66) is fixedly installed on the third electric slide rail (65) and is located below the gear (64). The rack (66) meshes with the gear (64).

5. The machining apparatus for planetary gear shafts according to claim 4, characterized in that, The fixed shaft assembly (8) includes a docking slide rail (81), a slide plate (82), a mechanical claw body (83), and a camera (84); The docking slide rail (81) is a T-shaped slide rail. The docking slide rail (81) is fixedly installed on the left end of the flipping seat (63). One end of the slide plate (82) is fixedly installed on the docking slide rail (81). The slide plate (82) can move up and down and move left and right. The mechanical claw body (83) is fixedly installed on the other end of the slide plate (82). The mechanical claw body (83) is located above the processing table (71). The mechanical claw body (83) is symmetrically provided with opposing grippers. The camera (84) is fixedly installed on the lower wall of the other end of the slide plate (82).

6. The machining apparatus for planetary gear shafts according to claim 5, characterized in that, The flipping seat (63) drives the wheel limiting assembly (7) and the shaft fixing assembly (8) to flip to the left by a certain angle.

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