Intelligent speed reducer assembling equipment for practical training

Abstract

The invention provides intelligent speed reducer assembling equipment for practical training. The intelligent speed reducer assembling equipment comprises a material taking mechanism, a first feeding mechanism, a shaft assembling module, a box assembling mechanism and a second feeding mechanism, and the material taking mechanism is used for clamping and transporting materials; the first feeding mechanism is used for feeding part of parts of the reduction gearbox and discharging finished products of the reduction gearbox. The second feeding mechanism is used for feeding sealing covers of the reduction gearbox. The shaft assembling module is used for assembling a transmission shaft integrated part and comprises a first bearing press-fitting mechanism, a first end cover press-fitting mechanism, a second bearing press-fitting mechanism and a second end cover press-fitting mechanism, the first bearing press-fitting mechanism can press bearings at the two ends of the first transmission shaft at the same time, and the second bearing press-fitting mechanism can press bearings at the two ends of the second transmission shaft at the same time. The first end cover press-fitting mechanism and the second end cover press-fitting mechanism are arranged above the first bearing press-fitting mechanism and used for press-fitting of an end cover on the first transmission shaft and an end cover on the second transmission shaft correspondingly. And the gearbox assembling mechanism is used for assembling finished reduction gearboxes. The device is simple in structural design, easy to control, low in manufacturing cost and suitable for student teaching.

Description

Technical Field

[0001] The present invention relates to the technical field of training teaching equipment, and particularly relates to an intelligent assembly device for a speed reducer for training purposes. Background Art

[0002] With the development of automation, more automation professionals are needed. However, at present, the training of automation professionals lacks relevant training equipment, resulting in weak practical operation levels of students. They still need to undergo long-term training after entering the enterprise to be competent for their jobs.

[0003] The speed reducer is a common teaching object in the mechanical majors of colleges and universities. Through the intelligent assembly of the speed reducer group, it can effectively improve the students' understanding of the structure and operation principle of the speed reducer, and can also fully improve the students' training in intelligent manufacturing and their practical ability. Therefore, some mechanical majors in colleges and universities want to introduce speed reducer assembly equipment as a training teaching object. However, in the existing technology, there is no intelligent assembly equipment for speed reducers for training teaching. The structure of industrial speed reducer assembly equipment is complex in design, high in purchase cost, and not convenient for students to learn and operate, so it is not suitable for student teaching. Summary of the Invention

[0004] The present invention aims to provide an intelligent assembly device for a speed reducer for training purposes to overcome the deficiencies in the existing technology.

[0005] To solve the above technical problems, the technical solution of the present invention is: an intelligent assembly device for a speed reducer for training purposes, including a material taking mechanism and a first feeding mechanism, a shaft assembly module, a box assembly mechanism, and a second feeding mechanism sequentially arranged around the material taking mechanism. The material taking mechanism includes a robot and a material taking gripper arranged at the end of the robot, which is used to pick up and transport materials between the first feeding mechanism, the shaft assembly module, the box assembly mechanism, and the second feeding mechanism, and can cooperate with the above four functional units to complete corresponding functional actions. The first feeding mechanism is used to feed some parts of the speed reducer and discharge the finished speed reducer. The second feeding mechanism is used to feed the speed reducer cover. The shaft assembly module is used to assemble the transmission shaft integrated part, including a first bearing pressing mechanism, a first end cover pressing mechanism, a second bearing pressing mechanism, and a second end cover pressing mechanism. The first bearing pressing mechanism and the second bearing pressing mechanism are arranged in parallel on the first assembly workbench. The first bearing pressing mechanism is arranged on the side of the first assembly workbench close to the robot and can simultaneously press the bearings at both ends of the first transmission shaft. The second bearing pressing mechanism can simultaneously press the bearings at both ends of the second transmission shaft. The first end cover pressing mechanism and the second end cover pressing mechanism are arranged above the first bearing pressing mechanism and are respectively used to press the end covers on the first transmission shaft and the second transmission shaft. The box assembly mechanism is arranged in parallel with the second feeding mechanism and is used to assemble the finished speed reducer, including assembling the transmission shaft integrated part, the cover, and the box cover onto the box body.

[0006] It further includes a control system, which includes a main control cabinet and independent single control cabinets respectively arranged on the material taking mechanism, the first feeding mechanism, the shaft assembly module, the box assembly mechanism, and the second feeding mechanism.

[0007] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the first feeding mechanism includes a tray and a transfer conveyor for conveying the tray. The tray is used for loading parts of the speed reducer housing or finished speed reducer housings. The transfer conveyor includes a conveying chassis and a conveyor belt arranged above the conveying chassis.

[0008] The second feeding mechanism includes a feeding workbench and a vision feeding component and a flipping component arranged on the feeding workbench. The vision feeding component includes a material box and a detection camera. The material box is used for storing various covers. The detection camera is arranged directly above the material box and is fixed on the feeding workbench through a camera support. The detection camera is used for identifying the type of the cover and the front and back sides of the cover. A plurality of flipping components are provided, which are arranged in one-to-one correspondence with the types of covers. The flipping components are used for positioning and flipping the covers to keep the material taking states of the covers consistent.

[0009] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the flipping component includes a flipping cylinder, a flipping plate, a clamping cylinder, and a positioning table. The flipping cylinder is fixed above the feeding workbench through a cylinder mounting seat, and its output end is provided with a flipping plate. The flipping plate is L-shaped, its vertical plate is connected to the flipping cylinder, and its horizontal plate is provided with an open positioning hole. One side of the positioning hole is provided with a fixed block at the end of the horizontal plate of the flipping plate, and the other side is provided with a moving block. The clamping cylinder is fixed on the horizontal plate of the flipping plate, and its output end is provided with a moving block. The moving block and the fixed block are V-shaped blocks arranged oppositely. The positioning table is fixed above the feeding workbench, and its top is provided with a placement groove for placing the cover. When the flipping cylinder drives the flipping plate to rotate so that the positioning hole is located above the positioning table, the positioning hole and the placement groove are concentrically arranged.

[0010] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, a plurality of material taking grippers are provided, including a first material taking gripper, a second material taking gripper, a third material taking gripper, and a fourth material taking gripper. Among them, the first material taking gripper and the second material taking gripper are installed on the first quick-change platform, and the third material taking gripper and the fourth material taking gripper are installed on the second quick-change platform. The first quick-change platform is arranged on one side of the robot close to the shaft assembly module, and the second quick-change platform is arranged on one side of the robot close to the first feeding mechanism. The third material taking gripper is used for gripping and conveying the housing of the speed reducer, and the fourth material taking gripper is used for gripping and conveying the box cover.

[0011] Furthermore, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the first material-taking gripper includes a first connecting seat. One end of the first connecting seat is provided with a quick-change sub-disk that is quickly connected to the quick-change main disk at the end of the robot, and the other end is a functional end corresponding to each project function. The functional end of the first connecting seat is provided with an L-shaped functional connecting seat, and a plurality of functional tools are arranged on the functional connecting seat. The plurality of functional tools include a first functional tool, a second functional tool, and a third functional tool, which are respectively fixed on one side surface of the functional connecting seat.

[0012] Furthermore, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the first functional tool is a suction cup material-taking tool, which includes a suction cup fixing seat, a suction cup mounting post, and a spring-buffered suction cup assembly. The suction cup fixing seat is fixed on one side of the functional end of the first connecting seat, and a suction cup mounting post is fixed on its side surface. One end of the spring-buffered suction cup assembly is inserted into the suction cup mounting post and fixedly connected to the suction cup mounting seat;

[0013] The second functional tool includes a first clamping jaw cylinder, a first clamping jaw connecting plate, and an inner expanding rod. The output end of the first clamping jaw cylinder is provided with two oppositely arranged first clamping jaw connecting plates. Each lower end of the first clamping jaw connecting plate is provided with an inner expanding rod. The inner expanding rod is made of an elastic material, and the inner expanding rod includes a clamping part and an inner expanding part. The clamping part is a flat plate, which is arranged on the inner sides of the two inner expanding rods close to each other, and the inner expanding part is an arc-shaped convex platform protruding from the clamping part, which is arranged on the outer sides of the two inner expanding rods far from each other;

[0014] The third functional tool includes a second clamping jaw cylinder, a second clamping jaw connecting plate, and a V-shaped clamping block. The output end of the second clamping jaw cylinder is provided with two oppositely arranged second clamping jaw connecting plates. Oppositely arranged V-shaped clamping blocks are arranged on the side of the two second clamping jaw connecting plates close to each other.

[0015] Furthermore, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the second material-taking gripper is used to clamp the semi-finished or finished products of the transmission shaft assembly, and includes a second connecting seat. One end of the second connecting seat is provided with a quick-change sub-disk that is quickly connected to the quick-change main disk at the end of the robot, and the other end is also a functional end corresponding to each project function. The functional end of the second connecting seat is provided with a trapezoidal suction cup mounting post, and oppositely arranged fourth and fifth functional tools are arranged on the two inclined surfaces of the suction cup mounting post;

[0016] The fourth functional tool includes a third clamping jaw cylinder. The third clamping jaw cylinder is fixed on the suction cup mounting post through a cylinder mounting seat. Its output end is provided with a first clamping jaw. A second clamping jaw arranged at an angle to the first clamping jaw is also arranged on the side of the first clamping jaw close to the third clamping jaw cylinder. The first clamping jaw and the second clamping jaw are respectively used to clamp the transmission shaft assembly in different process states.

[0017] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the first gripper includes gripper arms one and two arranged oppositely. A round hole sleeving the end of the shaft-like part is provided at the end of the gripper arm one. An arc-shaped opening groove matching the shaft-like part is provided at the end of the gripper arm two. When the first gripper works, the inner sides of the gripper arm one and the gripper two abut against the end face of the part on the shaft to limit the axial displacement of the part on the shaft. The second gripper includes gripper arms three and four arranged oppositely. The gripper arm three is arranged on the same side as the gripper arm one, and a round hole sleeving the end of the shaft-like part is provided at its end. An arc-shaped opening groove matching the shaft-like part is also provided at the end of the gripper arm four. When the second gripper works, the inner sides of the gripper arm three and the gripper arm four abut against the end face of the part on the shaft to limit the axial displacement of the part on the shaft, and the limiting distance between the gripper arm three and the gripper arm four is different from the limiting distance between the gripper arm one and the gripper arm two, corresponding to the gripping of the transmission shaft integrated parts in different process states.

[0018] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the first bearing pressing mechanism is fixed on the pressing table board and includes a first positioning component. The first positioning component is arranged in the middle of the pressing table board and is used for positioning the transmission shaft, including a first positioning seat, a first rotary pressing cylinder, and a first lower pressing plate. A groove for placing the transmission shaft is provided at the top of the first positioning seat. The first rotary pressing cylinder is arranged on one side of the first positioning seat, and its output end is provided with the first lower pressing plate. The first lower pressing plate can press the transmission shaft on the first positioning seat through the first rotary pressing cylinder. The first positioning component also includes a supporting component for supporting the suspended end of the transmission shaft. The supporting component is arranged on one side of the first rotary pressing cylinder and includes a supporting pushing cylinder, a first lifting cylinder, and a supporting block. The output end of the supporting pushing cylinder is provided with the first lifting cylinder, and the output end of the first lifting cylinder is provided with the supporting block. An arc-shaped supporting groove is provided at the top of the supporting block.

[0019] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the first bearing pressing mechanism also includes two pressing components arranged oppositely on both sides of the first positioning component. A bearing feeding component is provided above each pressing component. The two pressing components have the same structure and include a bearing pressing cylinder, a pressing sliding seat, and a pressing block. The bearing pressing cylinder is fixed on the top surface of the first assembly workbench, and its output end is provided with a floating joint. The floating joint is connected to the pressing sliding seat. A slide rail slidingly connected therewith is provided below the pressing sliding seat. A pressing block is provided on the side of the pressing sliding seat away from the bearing pressing cylinder. An arc-shaped opening groove for placing the bearing is provided on the pressing block. A check cylinder is also provided on the pressing block, and the check cylinder can extend into the arc-shaped opening groove to abut against the bearing in the arc-shaped opening groove.

[0020] Furthermore, in the above-mentioned intelligent assembly equipment for reducer used for practical training, the bearing loading assembly includes a loading seat, a barrel, a pushing cylinder, a pushing plate, and a guide seat. The loading seat is arranged astride the press-fitting assembly, and a pushing cylinder is fixed at one end of the top thereof, and a barrel is fixed at the other end of the top thereof. A pushing plate is provided at the output end of the pushing cylinder, and the barrel is used for storing bearing materials, and a discharge port is provided at the bottom thereof. The guide seat is arranged at the end portion of one end of the loading seat, and a guide groove is provided on the side away from the pushing cylinder. The guide groove includes a guiding inclined surface, a guiding plane arranged at the upper end of the guiding inclined surface, and a guiding vertical surface arranged at the lower end of the guiding inclined surface. The guiding plane is connected with the bottom surface of the discharge port, and the guiding vertical surface is connected with the arc-shaped opening groove on the press-fitting block.

[0021] Furthermore, in the above-mentioned intelligent assembly equipment of reducer for practical training, the bearing pressing mechanism also includes a material blocking component, the side of the guide slide groove away from the barrel is opened, and the material blocking component includes a material blocking cylinder and a material blocking plate. The material blocking cylinder is fixedly connected to the loading seat through a cylinder mounting seat, and its output end is arranged on the material blocking plate. The material blocking plate is arranged parallel to the guide vertical plane, and when loading the bearing, the material blocking plate descends to block the open end of the guide slide groove and the arc-shaped opening groove, and the material blocking plate and the guide vertical plane form a slideway docking with the arc-shaped opening groove.

[0022] Preferably, the bearing press-fitting mechanism also includes an outer cover, which covers the outside of the press-fitting assembly and the bearing loading assembly, and a transparent observation port is provided on the outer cover, the barrel extends out of the outer cover, and the material blocking assembly is fixed on the outer cover.

[0023] Furthermore, in the above-mentioned intelligent assembly equipment for reducer used for practical training, the end cover pressing mechanism 1 includes a positioning component 2 and an end cover pressing component. The positioning component 2 is arranged above the end cover pressing component and is used to position the semi-finished product of the transmission shaft assembly. The end cover pressing component includes a pressing base plate, an end cover pressing cylinder, a lifting cylinder 2, a rotating cylinder, and a supporting positioning block. The end cover pressing cylinder is fixed above the pressing base plate, and a lifting cylinder 2 is provided at its output end. A rotating cylinder is provided at the output end of the lifting cylinder 2. A supporting positioning block is provided at the output end of the rotating cylinder, and a groove for positioning the end cover is provided on the top of the supporting positioning block.

[0024] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the second positioning component includes a positioning platen, a second positioning seat, a positioning cylinder, a positioning sleeve, and a second rotary pressing cylinder. The positioning platen is fixed above the pressing bottom plate through a support housing. A second positioning seat is provided on the top of the positioning platen. A groove for placing the semi-finished product of the transmission shaft assembly is provided on the top of the second positioning seat. The positioning cylinder is fixed above the positioning platen, and a positioning sleeve is provided at its output end. The positioning sleeve is located at one end of the groove of the second positioning seat and is used to limit the axial displacement of one end of the semi-finished product of the transmission shaft assembly. The second rotary pressing cylinder is located on one side of the second positioning seat and is arranged below the positioning platen. The output end of the second rotary pressing cylinder extends above the positioning platen and is equipped with a second pressing plate. The second pressing plate can press the semi-finished product of the transmission shaft assembly on the second positioning seat through the second rotary pressing cylinder.

[0025] Further, for the above-mentioned intelligent assembly equipment for speed reducers used in training, the box assembly mechanism includes a second assembly workbench and a third positioning component and a screw locking component arranged on the second assembly workbench. The third positioning component is used to position the box body and includes a positioning bottom plate, a fixed limiting plate, and a movable limiting plate. The positioning bottom plate is arranged in the middle of the second assembly workbench. A fixed limiting plate is provided at one end above it, and a pushing cylinder is provided at the other end. The output end of the pushing cylinder is provided with a movable limiting plate. C-shaped grooves adapted to the bottom of the box body are provided on the opposite sides of the fixed limiting plate and the movable limiting plate. The third positioning component further includes a positioning member for positioning the box cover. The positioning member includes two fixed guiding blocks, two movable guiding blocks, two side guiding blocks, and a pressing-down component. Two fixed guiding blocks are provided on both sides above the fixed limiting plate. Two movable guiding blocks are also provided on both sides of the movable limiting plate. Two side guiding blocks are also provided, close to the fixed limiting block and arranged on the short side of the box cover. And abutting portions adapted to the outer side of the bottom of the box cover are provided on the tops of the fixed limiting block, the movable limiting plate, and the side guiding blocks. Two pressing-down components are provided side by side on one side of the side guiding blocks and are used to press down and clamp the box body or the box cover. The screw locking component includes a moving module and a screw machine arranged at the output end of the moving module. The moving module is a three-axis gantry structure and includes an X linear module, a Y linear module, and a Z linear module.

[0026] The present invention also provides a working method for an intelligent assembly equipment for speed reducers used in training, including the following steps:

[0027] S1. Loading: The tray loads some parts of the speed reducer and is conveyed to the material taking position of the transfer conveying table.

[0028] S2. Bearing pressing: The first material taking gripper takes the transmission shaft from the tray and places it on the first bearing pressing mechanism and the second bearing pressing mechanism respectively for bearing pressing.

[0029] S3. Load and position the housing. While pressing the bearings, the gripper three of the material handling gripper picks up the housing to the assembly workbench two, and the positioning component three positions the housing.

[0030] S4. Press the end cover. After the bearing pressing is completed, the gripper two of the material handling gripper picks up the semi-finished product of the drive shaft integrated part to the end cover pressing mechanism one and the end cover pressing mechanism two for end cover pressing.

[0031] S5. Assemble the drive shaft integrated part. After the end cover pressing is completed, the gripper two of the material handling gripper installs the drive shaft integrated part onto the housing.

[0032] S6. Load and assemble the cover. The functional tool one of the gripper one picks up the cover from the feeding mechanism two and installs it onto the housing.

[0033] S7. Assemble the housing cover. The gripper four picks up the housing cover from the tray and places it on the housing on the assembly workbench two. Then, the screwdriver moves to the position on the housing cover where the screws are to be locked for screw locking to complete the assembly of the housing cover.

[0034] S8. Unload. After the assembly is completed, the gripper three of the material handling gripper picks up the finished speed reducer to the tray, and the tray loaded with the finished speed reducer is unloaded to the finished product warehouse through the conveying device.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: The structure of the present invention is simply designed, easy to control, and has a low manufacturing cost. In addition, by integrating technologies such as industrial robot technology and intelligent assembly, the components of the speed reducer are integrated and assembled, and the automation of the handling action and the assembly action is realized through the cooperation of the industrial robot and multiple material handling fixtures, which meets the course training of robot engineering, intelligent manufacturing engineering, and artificial intelligence professional groups, helps to improve the skills of students in intelligent production and manufacturing, and thus is applicable to student teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a schematic structural diagram of the intelligent assembly equipment for the speed reducer for training of the present invention;

[0038] Figure 2 It is a schematic partial structural diagram of the intelligent assembly equipment for the speed reducer for training of the present invention;

[0039] Figure 3 It is a schematic diagram of the feeding mechanism two of the intelligent assembly equipment for the speed reducer for training of the present invention;

[0040] Figure 4 Schematic diagram of the flipping component of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0041] Figure 5 Schematic diagram of the first quick-change platform structure of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0042] Figure 6 Schematic diagram of the first material-taking gripper of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0043] Figure 7 Schematic diagram of the second material-taking gripper of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0044] Figure 8 Schematic diagram of the second quick-change platform structure of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0045] Figure 9 Schematic diagram of the shaft assembly module structure of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0046] Figure 10 Schematic diagram of the first bearing pressing mechanism of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0047] Figure 11 Schematic diagram of the connection between the pressing block and the guiding seat of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0048] Figure 12 Schematic diagram of the first end cover pressing mechanism of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0049] Figure 13 Schematic diagram of the box assembly mechanism of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0050] Figure 14 Schematic diagram of the third positioning component of the intelligent assembly equipment for speed reducers used in the training of the present invention;

[0051] In the figure: 1. Material picking mechanism; 11. Robot; 12. First material picking gripper; 121. First connecting seat; 122. Functional connecting seat; 123. First functional tool; 1231. Suction cup fixing seat; 1232. Suction cup mounting post; 1233. Spring buffer suction cup assembly; 124. Second functional tool; 1241. First gripper cylinder; 1242. First gripper connecting plate; 1243. Inner expanding rod; 12431. Clamping part; 12432. Inner expanding part; 125. Third functional tool; 1251. Second gripper cylinder; 1252. Second gripper connecting plate; 1253. V-shaped clamping block; 13. Second material picking gripper; 131. Second connecting seat; 132. Suction cup mounting post; 133. Fourth functional tool; 1331. Third gripper cylinder; 1332. First gripper arm; 1333. Second gripper arm; 1334. Third gripper arm; 1335. Fourth gripper arm; 134. Fifth functional tool; 14. Third material picking gripper; 15. Fourth material picking gripper; 16. First quick-change platform; 17. Second quick-change platform;

[0052] 2. First feeding mechanism; 21. Tray; 22. Transfer conveying table;

[0053] 3. Shaft assembly module; 31. First assembly workbench;

[0054] 4. Box assembly mechanism; 41. Second assembly workbench; 42. Third positioning component; 421. Positioning base plate; 422. Fixed limit plate; 423. Movable limit plate; 424. Pushing cylinder; 425. Fixed guide block; 426. Movable guide block; 427. Side guide block; 428. Pressing-down component; 43. Screw locking component; 431. Screwdriver; 432. X linear module; 433. Y linear module; 434. Z linear module;

[0055] 5. Second feeding mechanism; 51. Feeding workbench; 52. Visual feeding component; 521. Material box; 522. Detection camera; 523. Camera support; 53. Flipping component; 531. Flipping cylinder; 532. Flipping plate; 5321. Positioning hole; 533. Clamping cylinder; 534. Positioning table; 535. Fixed block; 536. Movable block;

[0056] 6. Bearing Pressing Mechanism 1; 61. Pressing Table Plate; 62. Positioning Component 1; 621. Positioning Seat 1; 622. Rotary Downward Pressing Cylinder 1; 623. Lower Pressing Plate 1; 624. Support Pushing Cylinder; 625. Lifting Cylinder 1; 626. Support Block; 63. Pressing Component; 631. Bearing Pressing Cylinder; 632. Pressing Slide Base; 633. Pressing Block; 6331. Arc Open Slot; 634. Floating Joint; 635. Check Valve Cylinder; 64. Bearing Loading Component; 641. Loading Seat; 642. Cartridge; 643. Pushing Cylinder; 644. Pushing Plate; 645. Guide Seat; 6451. Guide Slide Slot; 65. Material Blocking Component; 651. Material Blocking Cylinder; 652. Material Blocking Plate; 66. Outer Cover

[0057] 7. End Cover Pressing Mechanism 1; 71. Positioning Component 2; 711. Positioning Table Plate; 712. Positioning Seat 2; 713. Positioning Cylinder; 714. Positioning Sleeve; 715. Rotary Downward Pressing Cylinder 2; 716. Lower Pressing Plate 2; 717. Support Outer Cover; 72. End Cover Pressing Component; 721. Pressing Bottom Plate; 722. End Cover Pressing Cylinder; 723. Lifting Cylinder 2; 724. Rotary Cylinder; 725. Support Positioning Block

[0058] 8. Bearing Pressing Mechanism 2

[0059] 9. End Cover Pressing Mechanism 2

[0060] 10. Control System; 101. Main Control Cabinet Detailed Implementation Manner

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention

[0062] In the present invention, the reduction gearbox includes a lower box seat, a box cover, a first transmission shaft (drive shaft), a second transmission shaft (output shaft), bearings, end covers, and sealing covers. Before assembly, the first gear on the transmission shaft has been fixed on the corresponding shaft

[0063] Embodiment 1

[0064] As Figures 1 - 14As shown, a kind of intelligent assembly equipment for speed reducer used for practical training, a kind of intelligent assembly equipment for speed reducer used for practical training, including a picking mechanism 1 and a feeding mechanism 1 2, a shaft assembly module 3, a box assembly mechanism 4, and a feeding mechanism 2 5 which are arranged in sequence around the picking mechanism 1, the picking mechanism 1 includes a robot 11 and a picking claw arranged at the end of the robot 11, which is used to clamp and transport materials between the feeding mechanism 1 2, the shaft assembly module 3, the box assembly mechanism 4, and the feeding mechanism 2 5, and can cooperate with the above four functional units to complete corresponding functional actions; the feeding mechanism 1 2 is used to feed some parts of the speed reducer and unload the finished speed reducer, and the feeding mechanism 2 5 is used to feed the speed reducer cover; the shaft assembly module 3 is used to assemble the transmission shaft assembly, including the shaft A pressure-assembly mechanism 16, an end cover press-assembly mechanism 17, a bearing press-assembly mechanism 28, and an end cover press-assembly mechanism 29, wherein the bearing press-assembly mechanism 16 and the bearing press-assembly mechanism 28 are arranged in parallel on an assembly workbench 131, the bearing press-assembly mechanism 16 is arranged on the side of the assembly workbench 131 close to the robot 11, and can simultaneously press-assemble the bearings at both ends of the transmission shaft 1, and the bearing press-assembly mechanism 28 can simultaneously press-assemble the bearings at both ends of the transmission shaft 2, the end cover press-assembly mechanism 17 and the end cover press-assembly mechanism 29 are arranged above the bearing press-assembly mechanism 16, and are respectively used to press-assemble the end cover on the transmission shaft 1 and the end cover on the transmission shaft 2; the box assembly mechanism 4 and the feeding mechanism 25 are arranged in parallel, and are used to assemble the finished reduction box, including assembling the transmission shaft assembly, the cover, and the box cover to the box body;

[0065] It also includes a control system 10, which includes a main control cabinet 101 and independent single control cabinets respectively arranged on the material taking mechanism 1, the feeding mechanism 1 2, the shaft assembly module 3, the box assembly mechanism 4, and the feeding mechanism 2 5. The main control cabinet 101 is a double control cabinet, including a teaching main control cabinet and an industrial main control cabinet, both of which can control the functional units independently and are redundant to each other; the independent single control cabinet is arranged in the workbench frame of each functional unit, so that each functional unit can act independently or in linkage.

[0066] In addition, if Figure 1 As shown, the reducer intelligent assembly equipment of the present invention is provided with a fence surrounding the equipment on the outside, and is also equipped with a display screen, a table, etc. that are convenient for teaching.

[0067] like Figures 1 - 2 As shown, the loading mechanism 2 includes a tray 21 and a transfer conveyor platform 22 for conveying the tray 21, wherein the tray 21 is used to load some parts of the reduction gearbox or the finished reduction gearbox; the transfer conveyor platform 22 includes a conveying chassis and a conveyor belt arranged above the conveying chassis.

[0068] like Figures 9 - 11As shown, the first bearing pressing mechanism 6 is fixed on the pressing table plate 61 and includes a first positioning component 62. The first positioning component 62 is arranged in the middle of the pressing table plate 61 and is used for positioning the transmission shaft. It includes a first positioning seat 621, a first rotary pressing cylinder 622, and a first lower pressing plate 623. A groove for placing the transmission shaft is provided at the top of the first positioning seat 621. The first rotary pressing cylinder 622 is arranged on one side of the first positioning seat 621, and its output end is provided with the first lower pressing plate 623. The first lower pressing plate 623 can press the transmission shaft on the first positioning seat 621 through the first rotary pressing cylinder 622. The first positioning component 62 further includes a supporting component for supporting the suspended end of the transmission shaft. The supporting component is arranged on one side of the first rotary pressing cylinder 622 and includes a supporting push cylinder 624, a first lifting cylinder 625, and a supporting block 626. The output end of the supporting push cylinder 624 is provided with the first lifting cylinder 625, and the output end of the first lifting cylinder 625 is provided with the supporting block 626. An arc-shaped supporting groove is provided at the top of the supporting block 626.

[0069] As Figures 9 - 11 As shown, the first bearing pressing mechanism 6 further includes two pressing components 63 arranged oppositely on both sides of the first positioning component 62. Above each pressing component 63, there is a bearing feeding component 64. The two pressing components 63 have the same structure and include a bearing pressing cylinder 631, a pressing slide 632, and a pressing block 633. The bearing pressing cylinder 631 is fixed on the top surface of the first assembly workbench 31, and its output end is provided with a floating joint 634. The floating joint 634 is connected to the pressing slide 632. A slide rail is provided below the pressing slide 632 and is slidably connected thereto. A pressing block 633 is arranged on the side of the pressing slide 632 away from the bearing pressing cylinder 631. An arc-shaped opening groove 6331 for placing the bearing is provided on the pressing block 633. A check cylinder 635 is further arranged on the pressing block 633, and the check cylinder 635 can extend into the arc-shaped opening groove 6331 and abut against the bearing in the arc-shaped opening groove 6331. In this embodiment, the check cylinder 635 is a needle-type cylinder, and a detection sensor for detecting whether the bearing is in place is provided on the bottom surface of the arc-shaped opening groove 635.

[0070] As Figures 9 - 11As shown, the bearing loading assembly 64 includes a loading seat 641, a barrel 642, a pushing cylinder 643, a pushing plate 644, and a guide seat 645. The loading seat 641 is arranged astride the press-fitting assembly 63, and a pushing cylinder 643 is fixed at one end of its top, and a barrel 642 is fixed at the other end of its top. A pushing plate 644 is provided at the output end of the pushing cylinder 643. The barrel 642 is used for bearing storage, and a discharge port is provided at its bottom. The guide seat 645 is arranged at the end of one end of the loading seat 641, and a guide groove 6451 is provided on the side away from the pushing cylinder 643. The guide groove 6451 includes a guiding inclined surface, a guiding plane arranged at the upper end of the guiding inclined surface, and a guiding vertical surface arranged at the lower end of the guiding inclined surface. The guiding plane is connected with the bottom surface of the discharge port, and the guiding vertical surface is connected with the arc-shaped opening groove 6331 on the press-fitting block 633.

[0071] like Figures 9 - 11 As shown, the bearing press-fitting mechanism 1 6 also includes a material stopper assembly 65, the side of the guide chute 6451 away from the barrel 642 is open, the material stopper assembly 65 includes a material stopper cylinder 651 and a material stopper plate 652, the material stopper cylinder 651 is fixedly connected to the loading seat 641 through a cylinder mounting seat, and its output end is arranged at the material stopper plate 652, the material stopper plate 652 is arranged parallel to the guide vertical surface, and when loading the bearing, the material stopper plate 652 descends to block the guide chute 6451 and the open end of the arc-shaped opening groove 6331, and the material stopper plate 652 and the guide vertical surface form a slideway docking with the arc-shaped opening groove 6331. The bearing can slide into the arc-shaped opening groove 6331 automatically, smoothly and accurately, avoid the bearing from falling, and improve the efficiency of bearing loading and press-fitting.

[0072] When assembling the bearing, the functional tool three 125 of the material picking clamp 12 clamps the transmission shaft and places it in the groove of the positioning seat 621, and then the support push cylinder 624 and the lifting cylinder 625 are started to align the support block 626 with the positioning seat 621, supporting the suspended end of the transmission shaft, and then the rotary pressing cylinder 622 is started to drive the pressing plate 623 to press the transmission shaft, and the transmission shaft is completely positioned. At the same time, the bearing loading assemblies 64 on both sides of the positioning assembly 62 are loaded, and the bearings slide into the corresponding arc-shaped opening grooves 6331 of the press-fitting assemblies through the guide grooves 6451 on the guide seats 645. The press-fitting assemblies 63 on both sides can be started at the same time and move toward the middle positioning assembly 62 to press the bearings on the press-fitting blocks 633 onto the two ends of the transmission shaft. After the press-fitting is in place, the bearing press-fitting cylinder 631 retreats, and the press-fitting of the bearings at both ends of the transmission shaft is completed. When the bearing press-fitting cylinder 631 retreats, the check cylinder 635 extends out to press against the bearing to prevent the retreat from driving the bearing backward, and the press-fitting of the bearing on the transmission shaft is completed. Then the functional tool four clamps 133 of the material taking jaws 2 13 take out the semi-finished product of the transmission shaft assembly of the transmission shaft 1 and transport it to the end cover press-fitting mechanism 7.

[0073] In addition, as Figure 9 shown, the bearing press-fitting mechanism 6 further includes an outer cover 66, which covers the outside of the press-fitting assembly 63 and the bearing feeding assembly 64. A transparent observation port is provided on the outer cover 66. The material cylinder 642 extends outside the outer cover 66, and the material blocking assembly 65 is fixed on the outer cover 66.

[0074] As Figure 9 , 12 shown, the end cover press-fitting mechanism 7 includes a positioning assembly II 71 and an end cover press-fitting assembly 72. The positioning assembly II 71 is arranged above the end cover press-fitting assembly 72 and is used to position the semi-finished product of the transmission shaft integrated part. The end cover press-fitting assembly 72 includes a press-fitting bottom plate 721, an end cover press-fitting cylinder 722, a lifting cylinder II 723, a rotary cylinder 724, and a support positioning block 725. The end cover press-fitting cylinder 722 is fixed above the press-fitting bottom plate 721, and its output end is provided with a lifting cylinder II 723. The output end of the lifting cylinder II 723 is provided with a rotary cylinder 724. The output end of the rotary cylinder 724 is provided with a support positioning block 725. A groove for positioning the end cover is provided at the top of the support positioning block 725. When the end cover is press-fitted, the support positioning block 725 is in the initial position. The end cover is taken from the tray 21 by the functional tool II 124 of the material taking fixture I 12 and placed in the groove of the support positioning block 725. Then the rotary cylinder 724 rotates 90°, and the lifting cylinder 723 rises, so that the end cover on the support positioning block 725 is aligned with the transmission shaft I on the positioning assembly II 71. Then the end cover press-fitting cylinder 722 is started, and the support positioning block 725 is pushed towards the transmission shaft to press-fit the end cover onto the transmission shaft I, completing the assembly of the transmission shaft integrated part. Among them, both the rotary cylinder 724 and the lifting cylinder II 723 are for facilitating the feeding of the end cover and the semi-finished product of the transmission shaft integrated part.

[0075] As Figure 12As shown in the figure, the second positioning component 71 includes a positioning platen 711, a second positioning seat 712, a positioning cylinder 713, a positioning sleeve 714, and a second rotary pressing cylinder 715. The positioning platen 711 is fixed above the pressing bottom plate 721 through a support outer cover 717. A transparent observation window is also provided on the support outer cover 717. A second positioning seat 712 is provided at the top of the positioning platen 711. A groove for placing the semi-finished product of the transmission shaft assembly is provided at the top of the second positioning seat 712. The positioning cylinder 713 is fixed above the positioning platen 711, and a positioning sleeve 714 is provided at its output end. The positioning sleeve 714 is located at one end of the groove of the second positioning seat 712 and is used to limit the axial displacement of one end of the semi-finished product of the transmission shaft assembly. The second rotary pressing cylinder 715 is located on one side of the second positioning seat 712 and is provided below the positioning platen 711. The output end of the second rotary pressing cylinder 715 extends above the positioning platen 711 and is installed with a second pressing plate 716. The second pressing plate 716 can press the semi-finished product of the transmission shaft assembly on the second positioning seat 712 through the second rotary pressing cylinder 715.

[0076] In this embodiment, the second bearing pressing mechanism 8 is similar in structure to the first bearing pressing mechanism 6, and the second end cap pressing mechanism 9 is similar in structure to the first end cap pressing mechanism 7, which will not be described in detail here.

[0077] Embodiment 2

[0078] Based on the structure of Embodiment 1, as Figure 3 shown in the figure, the second feeding mechanism 5 includes a feeding workbench 51 and a visual feeding component 52 and a flipping component 53 provided on the feeding workbench 51. The visual feeding component 52 includes a material box 521 and a detection camera 522. The material box 521 is used to store various caps. The detection camera 522 is provided directly above the material box 521 and is fixed on the feeding workbench 51 through a camera support 523. The detection camera 522 is used to identify the type of the cap and the front and back sides of the cap. A plurality of flipping components 53 are provided, which are arranged in one-to-one correspondence with the types of caps. The flipping component 53 is used to position and flip the caps to keep the picking states of the caps consistent.

[0079] Specifically, as Figures 3 - 4As shown, the flipping assembly 53 includes a flipping cylinder 531, a flipping plate 532, a clamping cylinder 533, and a positioning table 534. The flipping cylinder 531 is fixed above the feeding workbench 51 through a cylinder mounting seat, and its output end is provided with a flipping plate 532. The flipping plate 532 is L-shaped, its vertical plate is connected to the flipping cylinder 531, and its horizontal plate is provided with an open positioning hole 5321. One side of the positioning hole 5321 is provided with a fixed block 535 at the end of the horizontal plate of the flipping plate 532, and the other side is provided with a moving block 536. The clamping cylinder 533 is fixed on the horizontal plate of the flipping plate 532, and its output end is provided with a moving block 536. The moving block 536 and the fixed block 535 are V-shaped blocks arranged oppositely. The positioning table 534 is fixed above the feeding workbench 51, and its top is provided with a placement groove for placing the cover. When the flipping cylinder 531 drives the flipping plate 532 to rotate so that the positioning hole 5321 is located above the positioning table 534, the positioning hole 5321 and the placement groove of the positioning table 534 are concentrically arranged.

[0080] Multiple flipping assemblies 53 have similar structures, the difference lies in the positioning table 534 and the positioning hole 5321, corresponding to different types of covers. In this embodiment, two flipping assemblies 53 are provided, corresponding to the cover installations at the ends of two transmission shafts respectively. Through the setting of the flipping assembly 53, it is ensured that the cover is taken with the front or back facing up. Assuming that it is set to take the cover with the front facing up, when the detection camera 522 identifies that the cover taken from the material box 521 is facing the front, the picking gripper picks up the cover and places it at the positioning hole 5321, then the clamping cylinder 533 drives the moving block 536 to move towards the fixed block 535 to position the cover, and then the picking gripper takes away the cover for cover assembly; when the detection camera 522 identifies that the cover taken from the material box 521 is facing the back, the picking gripper picks up the cover and places it at the positioning hole 5321, starts the clamping cylinder 533 to clamp the cover, then the flipping cylinder 531 starts, drives the flipping plate 532 to rotate, aligns the positioning hole 5321 with the positioning table 534, then the clamping cylinder 533 resets, and the cover falls into the placement groove of the positioning table 534 to make the cover in a positive positioning state, and finally the picking gripper takes away the cover from the positioning table 534 for cover assembly.

[0081] As Figure 2 、 5As shown in FIG. -8, there are multiple material-taking jaws, including material-taking jaw one 12, material-taking jaw two 13, material-taking jaw three 14, and material-taking jaw four 15. Among them, material-taking jaw one 12 and material-taking jaw two 13 are installed on quick-change platform one 16, and material-taking jaw three 14 and material-taking jaw four 15 are installed on quick-change platform two 17. Quick-change platform one 16 is arranged on the side of robot 11 close to shaft assembly module 3. Material-taking jaw one is mainly used for gripping parts of the reduction box (transmission shaft, end cover, sealing cover), and material-taking jaw two is used for gripping semi-finished or finished products of the transmission shaft assembly, facilitating material taking during the assembly of the transmission shaft assembly. Quick-change platform two 17 is arranged on the side of robot 11 close to feeding mechanism one 2, mainly used for box assembly, facilitating material taking from feeding mechanism one 2 during box assembly. Material-taking jaw three 14 is used for gripping the box body of the conveying reduction box, and material-taking jaw four 15 is used for gripping the conveying box cover.

[0082] As Figure 6 shown, material-taking jaw one 12 includes connection seat one 121. One end of connection seat one 121 is provided with a quick-change sub-disk that is quickly connected to the quick-change main disk at the end of robot 11, and the other end is a functional end corresponding to each project function. The functional end of connection seat one 121 is provided with an L-shaped functional connection seat 122. A plurality of functional tools are provided on functional connection seat 122. The plurality of functional tools include functional tool one 123, functional tool two 124, and functional tool three 125, which are respectively fixed on one side of functional connection seat 122 and are staggered from each other without affecting the operation of each functional tool.

[0083] In the above structure, as Figure 6 shown, functional tool one 123 is a suction cup material-taking tool, including suction cup fixing seat 1231, suction cup mounting post 1232, and spring buffer suction cup assembly 1233. Suction cup fixing seat 1231 is fixed on one side of the functional end of connection seat one 121, and suction cup mounting post 1232 is fixed on its side. One end of spring buffer suction cup assembly 1233 is inserted into suction cup mounting post 1232 and fixedly connected to suction cup mounting post 1232.

[0084] Among them, as Figure 6As shown in the figure, the functional tool two 124 includes a jaw cylinder one 1241, a jaw connecting plate one 1242, and an inner expanding rod 1243. The output end of the jaw cylinder one 1241 is provided with two relatively arranged jaw connecting plates one 1242. Each lower end of the jaw connecting plate one 1242 is provided with an inner expanding rod 1243. The inner expanding rod 1243 is made of an elastic material, specifically nylon. And the inner expanding rod 1243 includes a clamping part 12431 and an inner expanding part 12432. The clamping part 12431 is a flat plate, arranged on the inner sides of the two inner expanding rods 1243 close to each other. The inner expanding part 12432 is an arc-shaped boss protruding from the clamping part 12431, arranged on the outer sides of the two inner expanding rods 1243 away from each other, and can clamp and pick up materials from the outside or expand and clamp materials in the inner hole.

[0085] As Figure 6 shown in the figure, the functional tool three 125 includes a jaw cylinder two 1251, a jaw connecting plate two 1252, and a V-shaped clamping block 1253. The output end of the jaw cylinder two 1251 is provided with two relatively arranged jaw connecting plates two 1252. On one side where the two jaw connecting plates two 1252 are close to each other, there are relatively arranged V-shaped clamping blocks 1253. In this embodiment, the V-shaped clamping block 1253 is mainly used for clamping shaft parts.

[0086] As Figure 7 shown in the figure, the picking jaw two 13 is used to pick up semi-finished or finished products of the transmission shaft assembly, including a connecting seat two 131. One end of the connecting seat two 131 is provided with a quick-change sub-plate that is quickly connected to the quick-change main plate at the end of the robot 11, and the other end is also a functional end corresponding to the functions of each item. The functional end of the connecting seat two 131 is provided with a trapezoidal sucker mounting post 132. On the two inclined surfaces of the sucker mounting post 132, there are relatively arranged functional tools four 133 and functional tools five 134;

[0087] Among them, the functional tool four 133 includes a jaw cylinder three 1331. The jaw cylinder three 1331 is fixed on the sucker mounting post 132 through a cylinder mounting seat. Its output end is provided with a jaw one. On one side of the jaw one close to the jaw cylinder three 1331, there is also a jaw two arranged at an angle to the jaw one. The jaw one and the jaw two are respectively used to pick up transmission shaft assemblies in different process states.

[0088] Specifically, the first jaw includes oppositely arranged first jaw arm 1332 and second jaw arm 1333. A round hole sleeving on the end of the shaft-like part is provided at the end of the first jaw arm 1332. An arc-shaped opening groove matching with the shaft-like part is provided at the end of the second jaw arm 1333. When the first jaw works, the inner sides of the first jaw arm 1332 and the second jaw arm 1333 abut against the end face of the part on the shaft, for limiting the axial displacement of the part on the shaft. The second jaw includes oppositely arranged third jaw arm 1334 and fourth jaw arm 1335. The third jaw arm 1334 is arranged on the same side as the first jaw arm 1332, and a round hole sleeving on the end of the shaft-like part is also provided at its end. An arc-shaped opening groove matching with the shaft-like part is also provided at the end of the fourth jaw arm 1335. When the second jaw works, the inner sides of the third jaw arm 1334 and the fourth jaw arm 1335 abut against the end face of the part on the shaft, limiting the axial displacement of the part on the shaft, and the limiting distance between the third jaw arm 1334 and the fourth jaw arm 1335 is different from the limiting distance between the first jaw arm 1332 and the second jaw arm 1333, corresponding to the clamping of the transmission shaft assembly in different process states.

[0089] In this embodiment, the fourth functional tool 133 is used to clamp the transmission shaft assembly of the first transmission shaft. The first jaw and the second jaw are used to clamp the transmission shaft assembly of the first transmission shaft in two different process states. The ends of the first jaw arm 1332 and the third jaw arm 1334 are in the same plane and both abut against the bearing end face on one side of the transmission shaft. This bearing end face is a common reference for easy positioning. The end of the fourth jaw arm 1335 protrudes from the end of the second jaw arm 1333. The end of the second jaw arm 1333 abuts against the bearing end face on the other side of the transmission shaft, while the end of the fourth jaw arm 1335 abuts against the end face of the end cover on the other side of the transmission shaft. It should be noted that the distribution positions of the first jaw arm 1332, the second jaw arm 1333, the third jaw arm 1334, and the fourth jaw arm 1335 are not limited to this and can be adjusted according to the actual position of the part on the shaft. The fifth functional tool 134 is used to clamp the transmission shaft assembly of the second transmission shaft, and its structure is similar to that of the fourth functional tool 133 and will not be described in detail here.

[0090] As Figures 13 - 14As shown in the figure, the box assembly mechanism 4 includes an assembly workbench two 41, a positioning component three 42 and a screw locking component 43 arranged on the assembly workbench two 41. The positioning component three 42 is used to position the box body and includes a positioning bottom plate 421, a fixed limiting plate 422, and a movable limiting plate 423. The positioning bottom plate 421 is arranged in the middle of the assembly workbench two 41. One end above it is provided with a fixed limiting plate 422, and the other end is provided with a pushing cylinder 424. The output end of the pushing cylinder 424 is provided with a movable limiting plate 423. On the opposite sides of the fixed limiting plate 422 and the movable limiting plate 423, there are C-shaped grooves adapted to the bottom of the box body. The fixed limiting block 422 and the movable limiting plate 423 are arranged on the long side of the box cover. The positioning component three 42 also includes a positioning member for positioning the box cover. The positioning member includes a fixed guiding block 425, a movable guiding block 426, a side guiding block 427, and a pressing-down component 428. There are two fixed guiding blocks 425, which are arranged on both sides above the fixed limiting plate 422. There are also two movable guiding blocks 427, which are arranged on both sides of the movable limiting plate 423. There are also two side guiding blocks 427, which are arranged close to the fixed limiting block 422 and on the short side of the box cover. And at the tops of the fixed limiting block 425, the movable guiding block 426, and the side guiding block 427, there are abutting parts that cooperate with the outer side of the bottom of the box cover, which can limit and position the position of the box cover and prevent the box cover from shifting. The pressing-down component 428 has two, which are arranged side by side on one side of the side guiding block 427 and are used to press down and clamp the box body or the box cover to prevent displacement during box assembly and ensure the assembly quality. The screw locking component 43 includes a moving module and a screw machine 431 arranged at the output end of the moving module. The moving module is a three-axis gantry structure and includes an X linear module 432, a Y linear module 433, and a Z linear module 434. In this embodiment, the pressing-down component 428 includes a rotary pressing-down cylinder and a lower pressing plate.

[0091] The present invention also provides a working method for a reducer intelligent assembly device for training, including the following steps:

[0092] S1. Feeding: The tray 21 loads some parts of the reduction box and is conveyed to the material-taking position of the transfer conveyor 22.

[0093] S2. Bearing pressing: The material-taking gripper one 12 takes the transmission shaft from the tray 21 and places it on the bearing pressing mechanism one 6 and the bearing pressing mechanism two 8 respectively for bearing pressing.

[0094] S3. Feeding and positioning the box body: While the bearing is being pressed, the material-taking gripper three 14 clamps the box body to the assembly workbench two 41, and the positioning component three 42 positions the box body.

[0095] S4. End cover pressing: After the bearing pressing is completed, the material-taking gripper two 13 takes the semi-finished product of the transmission shaft assembly to the end cover pressing mechanism one 7 and the end cover pressing mechanism two 9 for end cover pressing.

[0096] S5. Assemble the drive shaft assembly. After the end cover is press-fitted, the second material-taking gripper 13 installs the drive shaft assembly onto the box body.

[0097] S6. Load materials and assemble the cover. The first functional tool 123 of the first material-taking gripper 12 takes the cover from the second feeding mechanism 5 and installs it onto the box body.

[0098] S7. Assemble the box cover. The fourth material-taking gripper 15 takes the box cover from the tray 21 and places it onto the box body on the second assembly workbench 41. Then, the screwdriver 431 moves to the position on the box cover where screws are to be locked and locks the screws to complete the assembly of the box cover.

[0099] S8. Unload materials. After the assembly is completed, the third material-taking gripper 14 grabs the finished reduction gearbox and places it onto the tray 21. The tray 21 loaded with the finished reduction gearbox is unloaded to the finished product warehouse through the conveying device.

[0100] In summary, it can be seen that the structure design of the present invention is simple, easy to control, and has a low manufacturing cost. In addition, by integrating technologies such as industrial robot technology and intelligent assembly, the components of the reduction gearbox are integrated and assembled, and the automation of the handling action and the assembly action is realized through the cooperation of the industrial robot and multiple material-taking fixtures, meeting the course training of robot engineering, intelligent manufacturing engineering, and artificial intelligence professional groups, helping students understand the structure of the reduction gearbox, improving students' skills in intelligent production and manufacturing, and thus being applicable to students' training teaching.

[0101] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0102] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent assembly device for a speed reducer used in training, characterized in that: It includes a material taking mechanism and a feeding mechanism 1, a shaft assembly module, a box assembly mechanism, and a feeding mechanism 2 arranged in sequence around the material taking mechanism. The material taking mechanism includes a robot and a material taking gripper arranged at the end of the robot, which is used to pick and transport materials between the feeding mechanism 1, the shaft assembly module, the box assembly mechanism, and the feeding mechanism 2. The feeding mechanism 1 is used to feed some parts of the reduction gearbox and discharge the finished reduction gearbox. The feeding mechanism 2 is used to feed the cover of the reduction gearbox. The shaft assembly module is used to assemble the drive shaft integrated parts, including a bearing pressing mechanism 1, an end cover pressing mechanism 1, a bearing pressing mechanism 2, and an end cover pressing mechanism 2. The bearing pressing mechanism 1 and the bearing pressing mechanism 2 are arranged side by side on the assembly workbench 1. The bearing pressing mechanism 1 is arranged on the side of the assembly workbench 1 close to the robot and can press the bearings at both ends of the drive shaft 1 at the same time. The bearing pressing mechanism 2 can press the bearings at both ends of the drive shaft 2 at the same time. The end cover pressing mechanism 1 and the end cover pressing mechanism 2 are arranged above the bearing pressing mechanism 1 and are used to press the end covers on the drive shaft 1 and the drive shaft 2 respectively. The box assembly mechanism is arranged side by side with the feeding mechanism 2 and is used to assemble the finished reduction gearbox, including assembling the drive shaft integrated parts, the cover, and the box cover onto the box body. It also includes a control system, which includes a main control cabinet and independent single control cabinets respectively arranged on the material taking mechanism, the feeding mechanism 1, the shaft assembly module, the box assembly mechanism, and the feeding mechanism 2.

2. The intelligent assembly equipment for the speed reducer used in training according to claim 1, characterized in that: The feeding mechanism 1 includes a tray and a transfer conveyor for conveying the tray. The tray is used to load some parts of the reduction gearbox or the finished reduction gearbox. The transfer conveyor includes a conveying chassis and a conveyor belt arranged above the conveying chassis. The feeding mechanism 2 includes a feeding workbench and a visual feeding component and a flipping component arranged on the feeding workbench. The visual feeding component includes a material box and a detection camera. The material box is used to store various covers. The detection camera is arranged directly above the material box and is fixed on the feeding workbench through a camera support. The detection camera is used to identify the type of the cover and the front and back sides of the cover. A plurality of flipping components are provided and are arranged in one-to-one correspondence with the cover types. The flipping component is used to position and flip the cover to keep the picking state of the cover consistent.

3. The intelligent assembly equipment for the speed reducer used in training according to claim 2, wherein: The flipping component includes a flipping cylinder, a flipping plate, a clamping cylinder, and a positioning table. The flipping cylinder is fixed above the feeding workbench through a cylinder mounting seat, and its output end is provided with a flipping plate. The flipping plate is L-shaped, its vertical plate is connected to the flipping cylinder, and its horizontal plate is provided with an open positioning hole. One side of the positioning hole is provided with a fixed block at the end of the horizontal plate of the flipping plate, and the other side is provided with a moving block. The clamping cylinder is fixed on the horizontal plate of the flipping plate, and its output end is provided with a moving block. The moving block and the fixed block are V-shaped blocks arranged opposite to each other. The positioning table is fixed above the feeding workbench, and its top is provided with a placement groove for placing the cover. When the flipping cylinder drives the flipping plate to rotate so that the positioning hole is located above the positioning table, the positioning hole and the placement groove are concentrically arranged.

4. The intelligent assembly equipment for the speed reducer used in training according to claim 1, characterized in that: There are multiple material-taking grippers, including material-taking gripper one, material-taking gripper two, material-taking gripper three, and material-taking gripper four. Among them, material-taking gripper one and material-taking gripper two are installed on quick-change platform one, and material-taking gripper three and material-taking gripper four are installed on quick-change platform two. Quick-change platform one is arranged on one side of the robot close to the shaft assembly module, and quick-change platform two is arranged on one side of the robot close to feeding mechanism one; material-taking gripper three is used to grip the box body of the transmission reduction box, and material-taking gripper four is used to grip the box cover of the transmission.

5. The intelligent assembly equipment for the speed reducer used in training according to claim 4, wherein: Material-taking gripper one includes connection seat one. One end of connection seat one is provided with a quick-change sub-disk that is quickly connected to the quick-change main disk at the end of the robot, and the other end is a functional end corresponding to each item function. The functional end of connection seat one is provided with an L-shaped functional connection seat, and multiple functional tools are arranged on the functional connection seat. The multiple functional tools include functional tool one, functional tool two, and functional tool three, which are respectively fixed on one side surface of the functional connection seat.

6. The intelligent assembly equipment for the speed reducer used in training according to claim 5, wherein: Functional tool one is a suction cup material-taking tool, including a suction cup fixing seat, a suction cup mounting post, and a spring buffer suction cup assembly. The suction cup fixing seat is fixed on one side of the functional end of connection seat one, and a suction cup mounting post is fixed on its side surface. One end of the spring buffer suction cup assembly is inserted into the suction cup mounting post and fixedly connected to the suction cup mounting seat; Functional tool two includes a clamping jaw cylinder one, a clamping jaw connecting plate one, and an inner expanding rod. The output end of clamping jaw cylinder one is provided with two oppositely arranged clamping jaw connecting plates one. Each clamping jaw connecting plate one is provided with an inner expanding rod at the lower end. The inner expanding rod is made of an elastic material, and the inner expanding rod includes a clamping part and an inner expanding part. The clamping part is a flat plate arranged on the inner side where the two inner expanding rods are close to each other, and the inner expanding part is an arc-shaped convex platform protruding from the clamping part, arranged on the outer side where the two inner expanding rods are far from each other; Functional tool three includes a clamping jaw cylinder two, a clamping jaw connecting plate two, and a V-shaped clamping block. The output end of clamping jaw cylinder two is provided with two oppositely arranged clamping jaw connecting plates two. Oppositely arranged V-shaped clamping blocks are arranged on the side where the two clamping jaw connecting plates two are close to each other.

7. The intelligent assembly equipment for the speed reducer used in training according to claim 4, characterized in that: Material-taking gripper two is used to grip the semi-finished or finished product of the transmission shaft integrated part, including connection seat two. One end of connection seat two is provided with a quick-change sub-disk that is quickly connected to the quick-change main disk at the end of the robot, and the other end is also a functional end corresponding to each item function. The functional end of connection seat two is provided with a trapezoidal suction cup mounting post, and oppositely arranged functional tool four and functional tool five are arranged on the two inclined surfaces of the suction cup mounting post; Functional tool four includes a clamping jaw cylinder three. Clamping jaw cylinder three is fixed on the suction cup mounting post through a cylinder mounting seat. Its output end is provided with a clamping jaw one. A clamping jaw two arranged at an angle to clamping jaw one is also arranged on the side of clamping jaw one close to clamping jaw cylinder three. Clamping jaw one and clamping jaw two are respectively used to grip the transmission shaft integrated part in different process states.

8. The intelligent assembly equipment for the speed reducer used in training according to claim 7, characterized in that: The first jaw includes relatively arranged first jaw arms and second jaw arms. A circular hole sleeving the end of a shaft-like part is provided at the end of the first jaw arm. An arc-shaped opening groove matching the shaft-like part is provided at the end of the second jaw arm. When the first jaw works, the inner sides of the first jaw arm and the second jaw arm abut against the end face of the part on the shaft, for limiting the axial displacement of the part on the shaft. The second jaw includes relatively arranged third jaw arms and fourth jaw arms. The third jaw arm is arranged on the same side as the first jaw arm, and a circular hole sleeving the end of the shaft-like part is provided at its end. An arc-shaped opening groove matching the shaft-like part is also provided at the end of the fourth jaw arm. When the second jaw works, the inner sides of the third jaw arm and the fourth jaw arm abut against the end face of the part on the shaft, limiting the axial displacement of the part on the shaft. Moreover, the limiting distance between the third jaw arm and the fourth jaw arm is different from the limiting distance between the first jaw arm and the second jaw arm, corresponding to the clamping of the integrated drive shaft parts in different process states.

9. The intelligent assembly equipment for a speed reducer used in training according to claim 1, characterized in that: The first bearing pressing mechanism is fixed on the pressing table board and includes a first positioning component. The first positioning component is arranged in the middle of the pressing table board for positioning the drive shaft and includes a first positioning seat, a first rotary pressing cylinder, and a first lower pressing plate. A groove for placing the drive shaft is provided at the top of the first positioning seat. The first rotary pressing cylinder is arranged on one side of the first positioning seat, and its output end is provided with the first lower pressing plate. The first lower pressing plate can press the drive shaft on the first positioning seat through the first rotary pressing cylinder. The first positioning component further includes a supporting component for supporting the suspended end of the drive shaft. The supporting component is arranged on one side of the first rotary pressing cylinder and includes a supporting and pushing cylinder, a first lifting cylinder, and a supporting block. The output end of the supporting and pushing cylinder is provided with the first lifting cylinder, and the output end of the first lifting cylinder is provided with the supporting block. An arc-shaped supporting groove is provided at the top of the supporting block.

10. The intelligent assembly equipment for the speed reducer used in training according to claim 9, characterized in that: The first bearing pressing mechanism further includes two pressing components relatively arranged on both sides of the first positioning component. Above each pressing component, there is a bearing feeding component. The two pressing components have the same structure and include a bearing pressing cylinder, a pressing sliding seat, and a pressing block. The bearing pressing cylinder is fixed on the top surface of the first assembly workbench, and its output end is provided with a floating joint. The floating joint is connected to the pressing sliding seat. A slide rail slidingly connected therewith is provided below the pressing sliding seat. And a pressing block is arranged on the side of the pressing sliding seat away from the bearing pressing cylinder. An arc-shaped opening groove for placing the bearing is provided on the pressing block. A check cylinder is further provided on the pressing block, and the check cylinder can extend into the arc-shaped opening groove to abut against the bearing in the arc-shaped opening groove.

11. The intelligent assembly equipment for the speed reducer used in training according to claim 10, characterized in that: The bearing feeding assembly includes a feeding seat, a barrel, a pushing cylinder, a pushing plate, and a guide seat. The feeding seat is arranged astride the press-fitting assembly, and a pushing cylinder is fixed at one end of the top thereof, and a barrel is fixed at the other end of the top thereof. A pushing plate is provided at the output end of the pushing cylinder. The barrel is used for bearing material storage, and a discharge port is provided at the bottom thereof. The guide seat is arranged at the end of one end of the feeding seat, and a guide groove is provided on the side away from the pushing cylinder. The guide groove includes a guiding inclined surface, a guiding plane arranged at the upper end of the guiding inclined surface, and a guiding vertical surface arranged at the lower end of the guiding inclined surface. The guiding plane is connected with the bottom surface of the discharge port, and the guiding vertical surface is connected with the arc-shaped opening groove on the press-fitting block.

12. The intelligent assembly equipment for the training reducer according to claim 11, characterized in that: The bearing pressing mechanism also includes a material blocking assembly, and the side of the guide slide groove away from the barrel is open. The material blocking assembly includes a material blocking cylinder and a material blocking plate. The material blocking cylinder is fixedly connected to the loading seat through a cylinder mounting seat, and its output end is arranged on the material blocking plate. The material blocking plate is arranged parallel to the guide vertical plane, and when the bearing is loaded, the material blocking plate descends to block the open end of the guide slide groove and the arc-shaped opening groove, and the material blocking plate and the guide vertical plane form a slideway that docks with the arc-shaped opening groove.

13. The intelligent assembly equipment for the training reducer according to claim 1 or 9, characterized in that: The end cover press-fitting mechanism 1 includes a positioning component 2 and an end cover press-fitting component. The positioning component 2 is arranged above the end cover press-fitting component and is used to position the semi-finished product of the transmission shaft assembly. The end cover press-fitting component includes a press-fitting base plate, an end cover press-fitting cylinder, a lifting cylinder 2, a rotating cylinder, and a supporting positioning block. The end cover press-fitting cylinder is fixed above the press-fitting base plate, and a lifting cylinder 2 is arranged at its output end. A rotating cylinder is arranged at the output end of the lifting cylinder 2, and a supporting positioning block is arranged at the output end of the rotating cylinder. A groove for positioning the end cover is arranged at the top of the supporting positioning block.

14. The intelligent assembly equipment for the training reducer according to claim 13, characterized in that: The second positioning component includes a positioning table, a second positioning seat, a positioning cylinder, a positioning sleeve, and a second rotary downward pressure cylinder. The positioning table is fixed above the press-fit base plate through a supporting outer cover. A second positioning seat is provided on the top of the positioning table. A groove for placing the semi-finished drive shaft assembly is provided on the top of the second positioning seat. The positioning cylinder is fixed above the positioning table, and a positioning sleeve is provided at its output end. The positioning sleeve is located at one end of the groove of the second positioning seat and is used to limit the axial displacement of one end of the semi-finished drive shaft assembly. The second rotary downward pressure cylinder is located on one side of the second positioning seat and is provided below the positioning table. The output end of the second rotary downward pressure cylinder extends to a second lower pressure plate installed above the positioning table. The second lower pressure plate can press the semi-finished drive shaft assembly on the second positioning seat through the second rotary downward pressure cylinder.

15. The intelligent assembly equipment for a speed reducer used in training according to claim 1, wherein: The box assembly mechanism includes an assembly workbench II and a positioning component III and a screw locking component arranged on the assembly workbench II. The positioning component III is used for positioning the box body and includes a positioning bottom plate, a fixed limiting plate, and a movable limiting plate. The positioning bottom plate is arranged in the middle of the assembly workbench II. One end above it is provided with a fixed limiting plate, and the other end is provided with a pushing cylinder. The output end of the pushing cylinder is provided with a movable limiting plate. On the opposite sides of the fixed limiting plate and the movable limiting plate, there are C-shaped grooves adapted to the bottom of the box body. The positioning component III further includes a positioning member for positioning the box cover. The positioning member includes a fixed guiding block, a movable guiding block, a side guiding block, and a pressing-down component. There are two fixed guiding blocks, which are arranged on both sides above the fixed limiting plate. There are also two movable guiding blocks, which are arranged on both sides of the movable limiting plate. There are also two side guiding blocks, which are arranged close to the fixed limiting block and on the short side of the box cover. And on the tops of the fixed limiting block, the movable limiting plate, and the side guiding block, there are abutting parts that cooperate with the outer side of the bottom of the box cover. There are two pressing-down components, which are arranged side by side on one side of the side guiding block and are used for pressing down and clamping the box body or the box cover. The screw locking component includes a moving module and a screw machine arranged at the output end of the moving module. The moving module is a three-axis gantry structure and includes an X linear module, a Y linear module, and a Z linear module.

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