Machining equipment and machining method for speed reducer shell

Abstract

The invention relates to the technical field of pin wheel housing machining, and discloses machining equipment and a machining method.The machining equipment comprises a rotary platform, a positioning ring and a locking ring, the locking ring is fixedly connected with the top end of a machining sliding table, and the rotary platform is rotationally arranged on the inner side of the locking ring; a positioning ring is fixedly connected to the outer side of the rotary platform, a plurality of positioning holes are formed in the top end of the locking ring, positioning pins are arranged in the positioning holes, a plurality of positioning pieces are arranged on the outer side of the positioning ring in a sliding mode, and one end of each positioning piece enters a tooth groove and is matched with the tooth groove, so that the positioning ring drives the pin wheel housing to rotate; when the position of the pin wheel housing needs to be adjusted, the positioning pin returns into the positioning hole again, the characteristics of the pin wheel housing are fully utilized, the clamping mode of the positioning piece and the tooth groove is adopted, the position of the pin wheel housing can be adjusted in the machining process, the situation that the position is adjusted only through machining equipment is avoided, machining dead angles are reduced, and machining precision and efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of pin gear housing processing, and in particular relates to processing equipment and a processing method for a reducer housing. Background Art

[0002] RV reducers (Rotary Vector reducers) have been widely used in fields such as robots and automation equipment due to their high precision and high rigidity. The pinion housing is one of the core components of the RV reducer, and its processing accuracy plays a vital role in the performance and service life of the reducer. However, due to the complex shape of the pinion housing and the requirement for high-precision processing, the existing processing methods and devices still have certain shortcomings in terms of efficiency and accuracy.

[0003] For example, the patent application with publication number CN112247623A discloses a deformation-free clamping device for precision boring of a one-piece needle gear housing and its application. The device includes a flexible steel support bracket fixed on a double-sided boring machine workbench. Four flexible steel column support heads are symmetrically distributed on the center of the clamping surface of the bracket to clamp and fix the needle gear housing. The Chinese patent application with authorization announcement number CN217667914U discloses a needle gear housing processing table with small processing error. The movement of the clamping table is achieved through the cooperation of an electric slide rail and a slider so that the needle gear housing can be firmly clamped and fixed, thereby reducing the processing error.

[0004] Although the above technical solutions can fix the needle tooth housing during the processing, they are all fixed by clamping from the outside. This fixing method causes the needle tooth housing to be unable to adjust its position by itself during processing, and can only rely on the adjustment of the processing equipment to complete the positioning. This method of relying on equipment adjustment is prone to processing dead angles, which in turn affects the processing accuracy. Summary of the invention

[0005] To solve the above problems, the present invention adopts the following technical solutions.

[0006] The processing equipment for the reducer housing comprises an equipment base and an equipment case shell, wherein the bottom end of the equipment case shell is provided with the equipment base, the inside of the equipment case shell is provided with a processing slide, the top end of the processing slide is fixedly connected with a processing support, the processing support comprises a rotary platform, a positioning ring and a locking ring, the top end of the processing slide is fixedly connected with the bottom end of the locking ring, the top end of the locking ring is provided with a plurality of positioning holes, the inside of the plurality of positioning holes is provided with positioning pins, the outer side of the positioning ring is provided with a plurality of positioning pieces for sliding, the inner side of the locking ring is provided with a rotary platform for rotation, and the outer side of the rotary platform is fixedly connected with a positioning ring; Among them, the top end of the locking ring is used to place the needle gear housing, the positioning ring drives the needle gear housing to rotate through multiple positioning parts, and the positioning pin rises from the positioning hole to fix the needle gear housing.

[0007] Preferably, a primary slide rail is further provided inside the equipment housing. A processing slide table is slidably provided at the top of the primary slide rail. A camera is provided inside the equipment housing, and the camera is located above the processing slide table.

[0008] Preferably, a processing frame and a plurality of manipulators are further provided inside the equipment housing. The processing frame is located above the primary slide rail, and the plurality of manipulators are respectively located on both sides of the primary slide rail. Different processing tools are assembled at the execution ends of the plurality of manipulators, and the processing tools at least include a first tool and a second tool.

[0009] Preferably, a micro air pump and a plurality of ventilation pipes are provided inside the positioning ring. A plurality of receiving grooves are formed on the outer side of the positioning ring. A positioning member is slidably provided inside the receiving groove. One end of the ventilation pipe is fixedly communicated with the inside of the positioning member, and the other end of the ventilation pipe is fixedly communicated with the air vent of the micro air pump.

[0010] Preferably, a plurality of tooth grooves are formed on the inner side of the pin gear housing. The micro air pump inflates the inside of the receiving groove through the ventilation pipe, so that the positioning member moves outward along the receiving groove and cooperates with the tooth grooves. A plurality of housing holes are further formed inside the pin gear housing, and the diameter of the housing holes is larger than the diameter of the positioning pins.

[0011] Preferably, a ventilation hole is further provided at the top of the positioning ring. The ventilation hole is located above the micro air pump. The micro air pump inputs external gas into the inside of the receiving groove through the ventilation hole and the ventilation pipe.

[0012] A processing method for a reducer housing, which is implemented based on the above-mentioned processing equipment for a reducer housing, includes: Obtaining a real-time surface image of the pin gear housing, determining the type of the pin gear housing based on the real-time surface image, and determining a corresponding matching strategy according to the type of the pin gear housing. The type of the pin gear housing is used to represent the first spacing value between adjacent tooth grooves in the pin gear housing, and the matching strategy is used to represent the second spacing value between adjacent positioning members; Obtaining a real-time matching image of the pin gear housing placed on the locking ring, comparing the real-time matching image with a preset standard matching image, and obtaining a comparison result; Driving the pin gear housing to rotate according to the comparison result. After the rotation stops, raising the positioning pins, and the positioning pins enter the housing holes to fix the pin gear housing.

[0013] Preferably, the method for comparing the real-time matching image with the preset standard matching image to obtain a comparison result includes: Obtaining the actual straight line equation between any group of corresponding housing holes according to the real-time matching image, obtaining the standard straight line equation between any group of corresponding housing holes according to the standard matching image, determining the rotation angle according to the actual straight line equation and the standard straight line equation, and taking the rotation angle as the comparison result.

[0014] Preferably, the method for determining the type of the pin gear housing based on the real-time surface image includes: Input the real-time surface image into a pre-constructed pin gear housing classification model to obtain the type of the pin gear housing; The method for constructing the pin gear housing classification model includes: Obtain M sets of data, where M is a positive integer greater than 1. The M sets of data include historical surface images and historical pin gear housing types. Use the historical surface images and historical pin gear housing types as a sample set, divide the sample set into a training set and a test set, construct a classifier, use the historical surface images in the training set as input data, use the historical pin gear housing types in the training set as output data, train the classifier to obtain an initial classifier, and use the test set to test the initial classifier, and output a classifier that meets the preset accuracy as the pin gear housing classification model.

[0015] Preferably, the processing method for the reducer housing further includes: Analyze the real-time mating image to obtain the spacing distance, input the spacing distance into a pre-constructed correspondence table to obtain the corresponding target inflation volume. The spacing distance is the distance between one end of the positioning member and the inner side of the corresponding tooth groove, and the target inflation volume is the gas volume filled into the accommodation groove by the micro air pump.

[0016] Preferably, the method for constructing the correspondence table includes: Pre-store a relationship table. Each row in the relationship table represents a correspondence. The correspondence table has a spacing distance column and a target inflation volume column. Write the spacing distance and the target inflation volume as a row of data into the spacing distance column and the target inflation volume column respectively to establish the correspondence table.

[0017] Compared with the prior art, the beneficial effects of the present invention are: In the present invention, when the pin gear housing is placed on the processing support, the outer side of the positioning ring matches the inner side of the pin gear housing, one end of the positioning member is inserted into the tooth groove and cooperates with it, the outer side of the rotary platform is fixedly connected to the positioning ring, so that the rotary platform can drive the positioning ring to rotate, thereby driving the rotation of the pin gear housing, and the pin gear housing is further fixed by the positioning pin in the positioning hole. Since the positioning pin can move up and down, when it is necessary to adjust the position of the pin gear housing, the positioning pin can re-enter the positioning hole for fixation. The present invention makes full use of the structural characteristics of the pin gear housing, and through the clamping method of the positioning member and the tooth groove, the position of the pin gear housing can be adjusted during the processing, avoiding solely relying on the processing equipment for position adjustment, thereby reducing the processing dead angle and improving the processing accuracy and efficiency. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall structure of the processing equipment for the reducer housing in the present invention; Figure 2Schematic diagram of the internal structure of the processing equipment for the reducer housing in the present invention; Figure 3 Schematic diagram of the structure of the primary slide rail, processing slide table and processing support in the present invention; Figure 4 Top view of the processing slide table and processing support in the present invention; Figure 5 Partial sectional view of the positioning ring in the present invention; Figure 6 is Figure 5 Partial enlarged view of part A in; Figure 7 Top view of the pin gear housing in the present invention; Figure 8 First schematic diagram when the positioning ring and the pin gear housing are matched in the present invention; Figure 9 is Figure 8 Partial enlarged view of part B in; Figure 10 Second schematic diagram when the positioning ring and the pin gear housing are matched in the present invention; Figure 11 is Figure 10 Partial enlarged view of part C in; Figure 12 Schematic diagram of the processing frame structure in the present invention; Figure 13 Schematic diagram of the structure of the manipulator when it is equipped with the first tool in the present invention; Figure 14 Schematic diagram of the structure of the manipulator when it is equipped with the second tool in the present invention; Figure 15 Schematic diagram of the internal structure of the equipment box housing in the present invention; Figure 16 is Figure 15 Partial enlarged view of part D in; Figure 17 Schematic diagram of a group of corresponding shell holes in the present invention; Figure 18 Schematic diagram of the spacing distance in the present invention; Figure 19 Flow chart of the processing method for the reducer housing in the present invention.

[0019] Reference numerals: 10. Equipment base; 20. Equipment housing; 21. Camera; 30. Primary slide rail; 40. Machining slide table; 50. Machining support; 51. Rotary platform; 52. Positioning ring; 521. Vent hole; 522. Micro air pump; 523. Vent pipe; 524. Accommodating groove; 525. Positioning member; 53. Locking ring; 531. Positioning pin; 60. Machining frame; 61. Telescopic frame; 62. Secondary slide rail; 63. Moving workbench; 70. Manipulator; 71. First tool; 72. Second tool; 80. Pin gear housing; 801. Tooth groove; 802. Housing hole; 802a. First mounting hole; 802b. Second mounting hole. Detailed implementation manners

[0020] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given in conjunction with the drawings of the specification.

[0021] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar promotions without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0022] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present invention. The "in one embodiment" appearing in different places in this specification does not all refer to the same embodiment, nor is it a separate or selectively exclusive embodiment from other embodiments.

[0023] Embodiment 1 This embodiment provides a processing device for a reducer housing, as Figure 1 、 Figure 2 and Figure 3 shown, including an equipment base 10 and an equipment housing 20. The top end of the equipment base 10 is fixedly connected to the equipment housing 20. A machining slide table 40 is arranged inside the equipment housing 20. The top end of the machining slide table 40 is fixedly connected to a machining support 50. A machining frame 60 and a plurality of manipulators 70 are also arranged inside the equipment housing 20. The machining frame 60 is located above the primary slide rail 30, and the plurality of manipulators 70 are respectively located on both sides of the primary slide rail 30.

[0024] In this embodiment, both the processing frame 60 and the multiple manipulators 70 are used to process the pin gear housing 80. When the pin gear housing 80 needs to be processed, the pin gear housing 80 to be processed needs to be placed on the processing support 50. The processing support 50 is used to fix the pin gear housing 80 to be processed. The processing slide 40 drives the processing support 50 and the pin gear housing 80 to move in sequence, and the surface of the pin gear housing 80 is processed by the processing frame 60 and the multiple manipulators 70. The processing can be cutting or grinding the surface of the pin gear housing 80, and this embodiment does not limit this.

[0025] As Figure 12 shown, the processing frame 60 includes a telescopic frame 61, a secondary slide rail 62, and a moving workbench 63. The bottom end of the telescopic frame 61 is fixedly connected to the top end of the equipment base 10. A secondary slide rail 62 is provided at the top end of the telescopic frame 61. A moving workbench 63 is provided on one side of the secondary slide rail 62. The moving workbench 63 includes a processing tool for processing the pin gear housing 80.

[0026] As Figure 13 and Figure 14 shown, different processing tools are assembled at the execution ends of the multiple manipulators 70. The processing tools at least include a first tool 71 and a second tool 72.

[0027] It can be understood that both the moving workbench 63 and the multiple manipulators 70 are used to process the pin gear housing 80, but the processing parts are different. Exemplarily, the moving workbench 63 grinds the top end of the pin gear housing 80 through the processing tool, while the manipulator 70 cuts the outside of the pin gear housing 80 through the processing tool. From Figure 13 and Figure 14 it can be known that the first tool 71 can be a cutting tool, and the second tool 72 can be an end mill.

[0028] As Figure 4 shown, the processing support 50 includes a rotary platform 51, a positioning ring 52, and a locking ring 53. The locking ring 53 is fixedly connected to the top end of the processing slide 40. The rotary platform 51 is rotatably arranged inside the locking ring 53. The positioning ring 52 is fixedly connected to the outside of the rotary platform 51. The top end of the locking ring 53 is used to place the pin gear housing 80.

[0029] It should be noted that the pin gear housing 80 is usually annular. Therefore, in the design process, the height of the positioning ring 52 should be greater than that of the locking ring 53. When the pin gear housing 80 is placed on the top of the locking ring 53, the outer side of the positioning ring 52 cooperates with the inner side of the pin gear housing 80. The locking ring 53 is fixedly connected to the processing slide 40 and does not rotate. A micro motor is arranged inside the processing slide 40, and the output end of the micro motor is fixedly connected to the rotary platform 51. The outer side of the rotary platform 51 is fixedly connected with the positioning ring 52. Therefore, the rotary platform 51 can drive the positioning ring 52 to rotate, and the positioning ring 52 can drive the pin gear housing 80 to rotate. How the positioning ring 52 drives the pin gear housing 80 will be described in detail below.

[0030] As Figure 5 - Figure 9 shown, a micro air pump 522 and a plurality of air pipes 523 are arranged inside the positioning ring 52. A plurality of receiving grooves 524 are formed on the outer side of the positioning ring 52. A positioning member 525 is slidably arranged inside the receiving groove 524. The inside of the positioning member 525 is fixedly communicated with one end of the air pipe 523, and the other end of the air pipe 523 is fixedly communicated with the air vent of the micro air pump 522. A plurality of tooth grooves 801 are formed on the inner side of the pin gear housing 80. The micro air pump 522 fills the inside of the receiving groove 524 with air through the air pipe 523, so that the positioning member 525 moves outward along the receiving groove 524 and cooperates with the tooth groove 801.

[0031] The pin gear housing 80 is usually annular, and a plurality of tooth grooves 801 are formed inside the pin gear housing 80. Therefore, in the present invention, a micro air pump 522 is arranged inside the positioning ring 52. The micro air pump 522 conveys air to the receiving groove 524 through the air pipe 523. The positioning member 525 slides outward along the receiving groove 524 under the action of wind force, so that one end of the positioning member 525 enters the inside of the tooth groove 801. The way of cooperating the positioning member 525 with the tooth groove 801 can realize the rotation of the positioning ring 52 driving the pin gear housing 80. It can be understood that in the prior art, the pin gear housing 80 is usually clamped on the outside, such as by using a chuck method. Although this method can achieve fixation, the position of the pin gear housing 80 is difficult to adjust and can only rely on the processing equipment for adjustment. The processing equipment is prone to processing dead corners, resulting in low processing accuracy. For example, when using a chuck to clamp the outside of the pin gear housing 80, no matter how the position of the processing equipment is adjusted, the processing of the outside of the pin gear housing 80 is still difficult to achieve and can only be completed through multiple processes. In this embodiment, taking advantage of the characteristics of the pin gear housing 80, the method of cooperating the positioning member 525 with the tooth groove 801 for clamping can not only adjust the position of the pin gear housing 80 during the processing, but also significantly improve the processing accuracy and efficiency.

[0032] It should be added that, to prevent the positioning member 525 from sliding out of the receiving groove 524 when the wind force is too large, limiting grooves are provided on both sides of the inner wall of the receiving groove 524 so that the positioning member 525 can slide along the limiting grooves, thus effectively preventing accidental sliding out. Through the design of the limiting grooves, it can be ensured that the positioning member 525 can still be stably held in the groove when affected by a large wind force. The setting of the limiting grooves is a prior art, and this embodiment will not elaborate on it in detail.

[0033] Furthermore, a plurality of positioning holes are formed at the top end of the locking ring 53, and positioning pins 531 are arranged inside the plurality of positioning holes. The positioning pins 531 rise from the positioning holes and are used to fix the pin gear housing 80. A plurality of housing holes 802 are also formed inside the pin gear housing 80, and the diameter of the housing holes 802 is larger than the diameter of the positioning pins 531.

[0034] It should be noted that the top end of the locking ring 53 is for placing the pin gear housing 80, and the number of the housing holes 802 should be greater than or equal to the number of the positioning holes. When the positioning ring 52 drives the pin gear housing 80 to rotate to a specified position, each positioning hole will be aligned with the corresponding housing hole 802, and the positioning pin 531 rises from the positioning hole and passes through the positioning hole and enters the inside of the housing hole 802, thus further fixing the pin gear housing 80, and thereby enhancing the stability of the pin gear housing 80 during processing on the basis of realizing position adjustment. It can be understood that when the position of the pin gear housing 80 needs to be adjusted, the positioning pin 531 will descend and return to the inside of the positioning hole again, enabling the positioning ring 52 to continue driving the pin gear housing 80 to rotate, so as to realize the position adjustment of the pin gear housing 80 during the processing.

[0035] An air vent hole 521 is also provided at the top end of the positioning ring 52. The air vent hole 521 is located above the micro air pump 522. The micro air pump 522 inputs external gas into the inside of the receiving groove 524 through the air vent hole 521 and the air pipe 523.

[0036] It can be understood that in this embodiment, the micro air pump 522 conveys air to the receiving groove 524 through the air pipe 523, so that the positioning member 525 slides outward along the receiving groove 524 under the action of wind force. The micro air pump 522 can inhale air from the outside through the air vent hole 521 and convey air to the receiving groove 524. Similarly, the micro air pump 522 can also inhale air from the receiving groove 524 and convey air to the outside through the air vent hole 521, enabling the positioning member 525 to return to the inside of the receiving groove 524, thereby dynamically adjusting the length of the positioning member 525 extending to the outside. In this way, when the pin gear housing 80 is placed on the top of the locking ring 53, the length of the positioning member 525 extending to the outside can be dynamically adjusted according to the distance between the inner side of the pin gear housing 80 and the outer side of the positioning ring 52, enabling the positioning member 525 to enter the inside of the tooth groove 801, and at the same time avoiding strong collision between the positioning member 525 and the inner side of the pin gear housing 80, reducing damage to the inner side of the pin gear housing 80.

[0037] As Figure 15 and Figure 16 shown, a camera 21 is provided inside the equipment box housing 20, and the camera 21 is located above the processing slide 40. It can be understood that the camera 21 is used to obtain image data of the pin gear housing 80 during the processing for subsequent analysis.

[0038] Embodiment 2 Based on Embodiment 1, as Figure 19 shown, this embodiment provides a processing method for a reducer housing, including: Obtaining a real-time surface image of the pin gear housing 80, determining the pin gear housing type based on the real-time surface image, and determining a corresponding matching strategy according to the pin gear housing type. The pin gear housing type is used to characterize the first spacing value between adjacent tooth grooves 801 in the pin gear housing 80, and the matching strategy is used to characterize the second spacing value between adjacent positioning members 525.

[0039] It should be noted that the above real-time surface image can be the top image of the pin gear housing 80, and the pin gear housing type refers to the specification of the pin gear housing 80 divided according to the spacing between adjacent tooth grooves 801.

[0040] The method for determining the pin gear housing type based on the real-time surface image includes: Inputting the real-time surface image into a pre-constructed pin gear housing classification model to obtain the pin gear housing type.

[0041] The construction method of the pin gear housing classification model includes: Obtain M sets of data, where M is a positive integer greater than 1. The M sets of data include historical surface images and historical types of pin tooth shells. Use the historical surface images and historical types of pin tooth shells as a sample set, divide the sample set into a training set and a test set, construct a classifier, use the historical surface images in the training set as input data, use the historical types of pin tooth shells in the training set as output data, train the classifier to obtain an initial classifier, use the test set to test the initial classifier, and output a classifier that meets the preset accuracy as the pin tooth shell classification model. The classifier is preferably one of the Naive Bayes model or the Support Vector Machine model.

[0042] It should be noted that the difference between different types of pin tooth shells 80 is that the first spacing value between adjacent tooth grooves 801 is different. For example, Figure 8 , Figure 9 and Figure 10 and Figure 11 as shown. It can be seen from the figure that Figure 11 the first spacing value between adjacent tooth grooves 801 in Figure 9 is greater than the first spacing value between adjacent tooth grooves 801 in Figure 9 . Therefore, in the present invention, it is necessary to correspondingly adjust the number of positioning members 525 extending out according to the difference in the first spacing value. For example, Figure 11 the number of positioning members 525 extending out in

[0043] is 3, while the number of positioning members 525 extending out in

[0044] is 2. It can be understood that the above is only an exemplary illustration, and the present invention does not limit the number. In this way, the cooperation between the positioning member 525 and the adjacent tooth groove 801 is realized, and the extension of too many positioning members 525 is avoided, so as to avoid the impact of the positioning member 525 on the inner side of the pin tooth shell 80, resulting in wear. In this embodiment, when the pin gear housing 80 is placed on the locking ring 53, the adjacent tooth grooves 801 cooperate with the positioning member 525. At this time, the standard mating image refers to the image obtained when the positioning ring 52 drives the pin gear housing 80 to rotate to the preset machining position. It can be understood that before machining the pin gear housing 80, it needs to be adjusted to the preset machining position to ensure the smooth progress of subsequent machining operations. The preset position is usually precisely planned to ensure that the workpiece will not collide with other components of the equipment during machining, thereby improving the safety and accuracy of the machining process.

[0045] The method of comparing the real-time mating image with the preset standard mating image to obtain the comparison result includes: Obtain the actual straight-line equation between any group of corresponding housing holes 802 according to the real-time mating image, obtain the standard straight-line equation between any group of corresponding housing holes 802 according to the standard mating image, determine the rotation angle according to the actual straight-line equation and the standard straight-line equation, and take the rotation angle as the comparison result.

[0046] It can be understood that a group of corresponding housing holes 802 refers to two radially symmetric housing holes 802, such as Figure 17 As shown, the first mounting hole 802a and the second mounting hole 802b are a group of corresponding housing holes 802. It can be understood that from the above content, when the positioning ring 52 drives the pin gear housing 80 to rotate to the specified position, each positioning hole has a corresponding housing hole 802. Therefore, in this embodiment, the setting method of the positioning holes is the same as that of the housing holes 802. Therefore, as long as a group of corresponding housing holes 802 is rotated to the preset position, it is equivalent to rotating the pin gear housing 80 to the preset position, which is convenient for subsequent fixing through the positioning pins 531 in the positioning holes.

[0047] It should be added that in this embodiment, to establish the straight-line equation, the top of the machining slide 40 can be used as a plane to establish a coordinate system. The method for determining the rotation angle can be to rotate the real-time mating image until the actual straight-line equation coincides with the standard straight-line equation, thereby determining the rotation angle.

[0048] Drive the pin gear housing 80 to rotate according to the comparison result. After the rotation stops, raise the positioning pin 531, and the positioning pin 531 enters the housing hole 802 to fix the pin gear housing 80.

[0049] Specifically, when the rotation stops, the position of the positioning hole corresponds to the position of the housing hole 802 at this time. Therefore, by raising the positioning pin 531, the positioning pin 531 can enter the housing hole 802. The raising of the positioning pin 531 can be controlled by a corresponding hydraulic system. By sending a control signal to the hydraulic system, the raising and lowering of the positioning pin 531 can be achieved. It can be understood that controlling the raising and lowering of an object by a hydraulic system is a prior art, and this embodiment will not elaborate on it too much.

[0050] In this embodiment, artificial intelligence technology is used to first analyze the real-time surface image to determine the type of the pin gear housing, and determine the corresponding matching strategy according to the type of the pin gear housing, so that the positioning member 525 can enter the interior of the tooth groove 801, and at the same time, the positioning member 525 is also prevented from colliding strongly with the inner side of the pin gear housing 80, reducing the damage to the inner side of the pin gear housing 80. And then analyze the real-time matching image to obtain the angle by which the pin gear housing 80 needs to rotate, so that the position of the positioning hole corresponds to the position of the housing hole 802, and the subsequent positioning pin 531 can enter the housing hole 802 to further fix the pin gear housing 80.

[0051] Embodiment 3 Based on Embodiment 1, a processing method for a reducer housing further includes: Analyze the real-time matching image to obtain an interval distance, input the interval distance into a pre-constructed correspondence table to obtain a corresponding target inflation amount. The interval distance is the distance between one end of the positioning member 525 and the inner side of the corresponding tooth groove 801, and the target inflation amount is the amount of gas filled into the receiving groove 524 by the micro air pump 522.

[0052] It should be noted that as Figure 18 shown, Figure 18 shows the interval distance sr. Analyzing the real-time matching image to obtain the interval distance can be obtained by stereo vision technology based on parallax. For example, the distance of an object can be estimated by calculating the parallax between images through existing algorithms. This embodiment will not elaborate on it too much.

[0053] It can be understood that in the present invention, one end of the positioning member 525 needs to enter the interior of the tooth groove 801 so that the positioning member 525 cooperates with the tooth groove 801. Since the distance between the positioning member 525 and the tooth groove 801 is not a fixed value, it is necessary to adjust the outward extension distance of the positioning member 525 according to the actually detected distance. Therefore, in this embodiment, the interval distance is obtained by analyzing in real-time cooperation with the image, and then the target inflation volume is obtained according to the interval distance, so that the micro air pump 522 inflates the interior of the receiving groove 524 according to the target inflation volume, indirectly adjusting the outward extension distance of the positioning member 525. This not only avoids excessive contact between the positioning member 525 and the interior of the tooth groove 801, but also enables the positioning member 525 to achieve better cooperation with the tooth groove 801.

[0054] The method for constructing the correspondence table includes: Pre-storing a relationship table, each row in the relationship table represents a correspondence. The correspondence table has columns for interval distance and target inflation volume. The interval distance and the target inflation volume are used as a row of data and are respectively written into the columns for interval distance and target inflation volume to establish the correspondence table.

[0055] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired network or a wireless network. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0056] Those of ordinary skill in the art will realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present invention can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0057] Those skilled in the art can clearly understand that for the sake of convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0058] In several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only one way, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0059] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0060] In addition, the functional units in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0061] As described above, the above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

[0062] Finally: The above is only the preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should all be included in the protection scope of the present invention.

Claims

1. Processing equipment for a speed reducer housing, comprising an equipment base (10) and an equipment housing (20), characterized in that, A device base (10) is provided at the bottom end of the device housing (20). A processing slide (40) is provided inside the device housing (20). A processing support (50) is fixedly connected to the top end of the processing slide (40). The processing support (50) includes a rotary platform (51), a positioning ring (52), and a locking ring (53). The top end of the processing slide (40) is fixedly connected to the bottom end of the locking ring (53). A plurality of positioning holes are provided at the top end of the locking ring (53), and positioning pins (531) are provided inside the plurality of positioning holes. A plurality of positioning members (525) are slidably provided on the outer side of the positioning ring (52). The rotary platform (51) is rotatably provided inside the locking ring (53), and the positioning ring (52) is fixedly connected to the outer side of the rotary platform (51). Among them, the top end of the locking ring (53) is used to place the pin gear housing (80). The positioning ring (52) drives the pin gear housing (80) to rotate through a plurality of positioning members (525). The positioning pins (531) rise from the positioning holes to fix the pin gear housing (80).

2. The processing equipment for the reducer housing according to claim 1, characterized in that, A primary slide rail (30) is further provided inside the device housing (20). The processing slide (40) is slidably provided at the top end of the primary slide rail (30). A camera (21) is provided inside the device housing (20), and the camera (21) is located above the processing slide (40).

3. The processing equipment for the reducer housing according to claim 2, characterized in that, A processing frame (60) and a plurality of manipulators (70) are further provided inside the device housing (20). The processing frame (60) is located above the primary slide rail (30). The plurality of manipulators (70) are respectively located on both sides of the primary slide rail (30). Different processing tools are assembled at the execution ends of the plurality of manipulators (70). The processing tools at least include a first tool (71) and a second tool (72).

4. The processing equipment for the reducer housing according to claim 3, characterized in that, A micro air pump (522) and a plurality of air pipes (523) are provided inside the positioning ring (52). A plurality of receiving grooves (524) are provided on the outer side of the positioning ring (52). The positioning members (525) are slidably provided inside the receiving grooves (524). The inside of the positioning member (525) is fixedly communicated with one end of the air pipe (523), and the other end of the air pipe (523) is fixedly communicated with the air vent of the micro air pump (522).

5. The processing equipment for the reducer housing according to claim 4, characterized in that, A plurality of tooth grooves (801) are provided inside the pin gear housing (80). The micro air pump (522) inflates the inside of the receiving groove (524) through the air pipe (523), so that the positioning member (525) moves outward along the receiving groove (524) and cooperates with the tooth groove (801). A plurality of shell holes (802) are further provided inside the pin gear housing (80), and the diameter of the shell hole (802) is larger than the diameter of the positioning pin (531).

6. The processing equipment for the reducer housing according to claim 5, characterized in that, A vent hole (521) is further provided at the top of the positioning ring (52). The vent hole (521) is located above the micro air pump (522). The micro air pump (522) inputs external gas into the internal of the accommodation groove (524) through the vent hole (521) and the ventilation pipe (523).

7. A processing method for a reducer housing, which is realized based on the processing equipment for a reducer housing according to any one of claims 1-6, characterized in that, Including: Obtaining a real-time surface image of the pin gear housing (80), determining the type of the pin gear housing based on the real-time surface image, and determining a corresponding matching strategy according to the type of the pin gear housing. The type of the pin gear housing is used to characterize the first spacing value between adjacent tooth grooves (801) in the pin gear housing (80), and the matching strategy is used to characterize the second spacing value between adjacent positioning members (525); Obtaining a real-time matching image of the pin gear housing (80) placed on the locking ring (53), comparing the real-time matching image with a preset standard matching image, and obtaining a comparison result; Driving the pin gear housing (80) to rotate according to the comparison result. After the rotation stops, raising the positioning pin (531), and the positioning pin (531) enters the housing hole (802) to fix the pin gear housing (80).

8. The processing method for the reducer housing according to claim 7, characterized in that, The method of comparing the real-time matching image with the preset standard matching image to obtain a comparison result includes: Obtaining an actual straight line equation between any group of corresponding housing holes (802) according to the real-time matching image, obtaining a standard straight line equation between any group of corresponding housing holes (802) according to the standard matching image, determining the rotation angle according to the actual straight line equation and the standard straight line equation, and taking the rotation angle as the comparison result.

9. The processing method for the speed reducer housing according to claim 7, characterized in that The method of determining the type of the pin gear housing based on the real-time surface image includes: Inputting the real-time surface image into a pre-constructed pin gear housing classification model to obtain the type of the pin gear housing; The construction method of the pin gear housing classification model includes: Obtaining M sets of data, where M is a positive integer greater than 1. The M sets of data include historical surface images and historical pin gear housing types. Taking the historical surface images and historical pin gear housing types as a sample set, dividing the sample set into a training set and a test set, constructing a classifier, taking the historical surface images in the training set as input data, taking the historical pin gear housing types in the training set as output data, training the classifier to obtain an initial classifier, and using the test set to test the initial classifier, and outputting a classifier that meets the preset accuracy as the pin gear housing classification model.

10. The processing method for the reducer housing according to claim 7, characterized in that, Also including: Analyzing the real-time matching image to obtain an interval distance, inputting the interval distance into a pre-constructed correspondence table to obtain a corresponding target inflation volume. The interval distance is the distance between one end of the positioning member (525) and the inner side of the corresponding tooth groove (801), and the target inflation volume is the gas volume filled by the micro air pump (522) into the accommodation groove (524).

11. The processing method for the speed reducer housing according to claim 10, characterized in that, The construction method of the correspondence table includes: Storing a relationship table in advance. Each row in the relationship table represents a corresponding relationship. The correspondence table has columns for interval distance and target inflation volume. Taking the interval distance and the target inflation volume as a row of data, and writing them into the columns of interval distance and target inflation volume respectively to establish the correspondence table.

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