Processing equipment and method for reducer housing

Abstract

The present invention relates to the technical field of needle gear housing processing. The present invention discloses processing equipment and processing method for reducer housing, including a rotary platform, a positioning ring and a locking ring, the locking ring is fixedly connected to the top of the processing slide, the inner side of the locking ring is rotatably provided with a rotary platform, the outer side of the rotary platform is fixedly connected with a positioning ring, the top of the locking ring is provided with a plurality of positioning holes, and the interior of the plurality of positioning holes is provided with positioning pins, the outer side of the positioning ring is slidingly provided with a plurality of positioning parts, one end of the positioning part enters the interior of the tooth groove and cooperates therewith, so that the positioning ring drives the needle gear housing to rotate, and when the position of the needle gear housing needs to be adjusted, the positioning pin returns to the interior of the positioning hole. The present invention makes full use of the characteristics of the needle gear housing and adopts a clamping method of the positioning part and the tooth groove. The position of the needle gear housing can be adjusted during the processing, avoiding relying solely on the processing equipment to adjust the position, reducing processing dead angles, and improving processing accuracy and efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of pinion 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 robotics 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 machining 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 high-precision machining requirements, existing machining 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 and application for the precision boring of a one-piece pinion gear housing. The device includes a flexible steel support bracket fixed on the workbench of a double-sided boring machine. Four flexible steel column support heads are symmetrically distributed on the center of the clamping surface of the bracket to clamp and fix the pinion gear housing. The Chinese patent application with authorization announcement number CN217667914U discloses a pinion 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 pinion 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 makes the needle tooth housing 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] A processing device for a reducer housing includes an equipment base and an equipment box shell. The bottom end of the equipment box shell is provided with an equipment base. A processing slide is provided inside the equipment box shell. The top end of the processing slide is fixedly connected to a processing support. The processing support includes a rotary platform, a positioning ring and a locking ring. The top end of the processing slide is fixedly connected to the bottom end of the locking ring. The top end of the locking ring is provided with a plurality of positioning holes. Positioning pins are provided inside the plurality of positioning holes. A plurality of positioning pieces are slidingly provided on the outer side of the positioning ring. A rotary platform is rotatably provided on the inner side of the locking ring. The outer side of the rotary platform is fixedly connected to the positioning ring.

[0007] Among them, the top 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.

[0008] Preferably, a primary slide rail is further provided inside the equipment housing, a processing slide is slidably provided on the top end of the primary slide rail, and a camera is provided inside the equipment housing, and the camera is located above the processing slide.

[0009] Preferably, a processing frame and multiple robots are also provided inside the equipment box shell. The processing frame is located above the primary slide rail, and the multiple robots are respectively located on both sides of the primary slide rail. The execution ends of the multiple robots are equipped with different processing tools, and the processing tools include at least a first tool and a second tool.

[0010] Preferably, a micro air pump and multiple ventilation tubes are provided inside the positioning ring, and multiple accommodating grooves are opened on the outside of the positioning ring. A positioning member is slidingly provided inside the accommodating groove. The inside of the positioning member is fixedly connected to one end of the ventilation tube, and the other end of the ventilation tube is fixedly connected to the vent of the micro air pump.

[0011] Preferably, a plurality of tooth grooves are provided on the inner side of the needle tooth housing, and a micro air pump inflates the interior of the receiving groove through a ventilation tube, so that the positioning piece moves outward along the receiving groove and cooperates with the tooth grooves. A plurality of shell holes are also provided on the interior of the needle tooth housing, and the diameter of the shell hole is larger than the diameter of the positioning pin.

[0012] Preferably, a vent hole is further provided at the top of the positioning ring, and the vent hole is located above the micro air pump. The micro air pump inputs external gas into the interior of the containing tank through the vent hole and the vent pipe.

[0013] A processing method for a reducer housing, which is implemented based on the above-mentioned processing equipment for the reducer housing, includes:

[0014] Acquire a real-time surface image of the pin gear housing, determine the type of the pin gear housing based on the real-time surface image, and determine a corresponding matching strategy based on the pin gear housing type, wherein the pin gear housing type is used to characterize a first spacing value between adjacent tooth grooves in the pin gear housing, and the matching strategy is used to characterize a second spacing value between adjacent positioning members;

[0015] Obtain a real-time matching image of the pinion housing placed on the locking ring, and compare the real-time matching image with a preset standard matching image to obtain a comparison result;

[0016] The needle gear housing is driven to rotate according to the comparison result. When the rotation stops, the positioning pin is raised and enters the housing hole to fix the needle gear housing.

[0017] Preferably, the method of comparing the real-time matching image with the preset standard matching image to obtain the comparison result includes:

[0018] The actual straight line equation between any set of corresponding shell holes is obtained according to the real-time matching image, and the standard straight line equation between any set of corresponding shell holes is obtained according to the standard matching image. The rotation angle is determined according to the actual straight line equation and the standard straight line equation, and the rotation angle is used as the comparison result.

[0019] Preferably, the method for determining the type of the needle tooth shell based on the real-time surface image comprises:

[0020] The real-time surface image is input into the pre-built needle shell classification model to obtain the needle shell type;

[0021] The construction method of the needle tooth shell classification model includes:

[0022] Acquire M groups of data, where M is a positive integer greater than 1, and the M groups of data include historical surface images and historical needle tooth shell types. Use the historical surface images and historical needle tooth shell types as sample sets, divide the sample sets into training sets and test sets, construct a classifier, use the historical surface images in the training set as input data, and the historical needle tooth shell types in the training set as output data, train the classifier to obtain an initial classifier, test the initial classifier using the test set, and output a classifier that meets a preset accuracy as a needle tooth shell classification model.

[0023] Preferably, the processing method for the reducer housing further includes:

[0024] The real-time matching image is analyzed to obtain the spacing distance, which is input into the pre-built correspondence table to obtain the corresponding target inflation volume. The spacing distance is the distance between one end of the positioning piece and the inner side of the corresponding tooth groove, and the target inflation volume is the amount of gas that the micro air pump fills into the receiving groove.

[0025] Preferably, the method for constructing the correspondence table includes:

[0026] A relationship table is stored in advance, where each row represents a corresponding relationship. The corresponding relationship table includes an interval distance column and a target inflation volume column. The interval distance and the target inflation volume are written into the interval distance column and the target inflation volume column as a row of data, respectively, to establish the corresponding relationship table.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] In the present invention, when the needle tooth housing is placed on the processing support, the outer side of the positioning ring matches the inner side of the needle tooth housing, one end of the positioning piece is inserted into the tooth groove and cooperates with it, and the outer side of the rotating platform is fixedly connected to the positioning ring, so that the rotating platform can drive the positioning ring to rotate, thereby driving the rotation of the needle tooth housing, and further fix the needle tooth housing through the positioning pin in the positioning hole. Since the positioning pin can move up and down, when the position of the needle tooth housing needs to be adjusted, the positioning pin can re-enter the positioning hole for fixation. The present invention makes full use of the structural characteristics of the needle tooth housing, and through the clamping method of the positioning piece and the tooth groove, the position of the needle tooth housing can be adjusted during the processing, avoiding relying solely on the processing equipment for position adjustment, thereby reducing processing dead angles and improving processing accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the overall structure of the processing equipment for the reducer housing in the present invention;

[0030] Figure 2 Schematic diagram of the internal structure of the processing equipment for the reducer housing in the present invention;

[0031] Figure 3 Schematic diagram of the structure of the primary slide rail, processing slide and processing support in the present invention;

[0032] Figure 4 A top view of the processing slide and processing support in the present invention;

[0033] Figure 5 It is a partial cross-sectional schematic diagram of the positioning ring in the present invention;

[0034] Figure 6 for Figure 5 A partial enlarged view of point A in the middle;

[0035] Figure 7 A top view of the needle tooth housing of the present invention;

[0036] Figure 8 This is a first schematic diagram of the positioning ring and the needle gear housing in the present invention;

[0037] Figure 9 for Figure 8 A partial enlarged view of point B in the middle;

[0038] Figure 10 This is a second schematic diagram of the present invention when the positioning ring and the needle gear housing are matched;

[0039] Figure 11 for Figure 10 A partial enlarged view of point C in the middle;

[0040] Figure 12 This is a schematic diagram of the processing frame structure in the present invention;

[0041] Figure 13 This is a schematic structural diagram of the manipulator of the present invention when equipped with a first tool;

[0042] Figure 14 This is a schematic structural diagram of the manipulator of the present invention when equipped with a second tool;

[0043] Figure 15 Schematic diagram of the internal structure of the equipment box shell in the present invention;

[0044] Figure 16 for Figure 15 A partial enlarged view of point D in the middle;

[0045] Figure 17 A schematic structural diagram of a group of corresponding shell holes in the present invention;

[0046] Figure 18 Schematic diagram of the spacing distance in the present invention;

[0047] Figure 19 The figure is a flow chart of the processing method for the reducer housing in the present invention.

[0048] Reference numerals:

[0049] 10. Equipment base; 20. Equipment housing; 21. Camera; 30. Primary slide rail; 40. Processing slide; 50. Processing support; 51. Rotating platform; 52. Positioning ring; 521. Vent hole; 522. Micro air pump; 523. Vent pipe; 524. Accommodating groove; 525. Positioning piece; 53. Locking ring; 531. Positioning pin; 60. Processing frame; 61. Telescopic frame; 62. Secondary slide rail; 63. Moving workbench; 70. Manipulator; 71. First tool; 72. Second tool; 80. Needle gear housing; 801. Tooth groove; 802. Housing hole; 802a. First mounting hole; 802b. Second mounting hole. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0052] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it constitute a separate or selective embodiment that is mutually exclusive with other embodiments.

[0053] Example 1

[0054] This embodiment provides a processing device for a reducer housing, such as Figure 1 、 Figure 2 and Figure 3 As shown, it includes an equipment base 10 and an equipment case 20. The top of the equipment base 10 is fixedly connected to the equipment case 20. A processing slide 40 is arranged inside the equipment case 20. The top of the processing slide 40 is fixedly connected to a processing support 50. A processing frame 60 and multiple manipulators 70 are also arranged inside the equipment case 20. The processing frame 60 is located above the primary slide rail 30, and the multiple manipulators 70 are respectively located on both sides of the primary slide rail 30.

[0055] In this embodiment, the processing frame 60 and multiple manipulators 70 are used to process the needle tooth housing 80. When the needle tooth housing 80 needs to be processed, the needle tooth housing 80 to be processed needs to be placed on the processing support 50. The processing support 50 is used to fix the needle tooth housing 80 to be processed. The processing slide 40 drives the processing support 50 and the needle tooth housing 80 to move in turn, and the surface of the needle tooth housing 80 is processed by the processing frame 60 and multiple manipulators 70. The processing can be cutting or grinding the surface of the needle tooth housing 80, and this embodiment does not limit this.

[0056] like Figure 12 As shown, the processing frame 60 includes a telescopic frame 61, a secondary slide rail 62 and a movable workbench 63. The bottom end of the telescopic frame 61 is fixedly connected to the top of the equipment base 10. The top of the telescopic frame 61 is provided with a secondary slide rail 62. A movable workbench 63 is provided on one side of the secondary slide rail 62. The movable workbench 63 includes a processing tool for processing the needle tooth housing 80.

[0057] like Figure 13 and Figure 14 As shown, the execution ends of the multiple manipulators 70 are equipped with different processing tools, and the processing tools include at least a first tool 71 and a second tool 72.

[0058] It can be understood that the movable workbench 63 and the plurality of manipulators 70 are both used to process the pin gear housing 80, but the processing parts are different. For example, the movable workbench 63 grinds the top of the pin gear housing 80 by a processing tool, while the manipulator 70 cuts the outer side of the pin gear housing 80 by a processing tool. Figure 13 and Figure 14 It can be seen that the first tool 71 can be a cutting tool, and the second tool 72 can be an end mill.

[0059] like Figure 4 As shown, the processing support 50 includes a rotating platform 51, a positioning ring 52 and a locking ring 53. The locking ring 53 is fixedly connected to the top of the processing slide 40. The rotating platform 51 is rotatably provided on the inner side of the locking ring 53, and the positioning ring 52 is fixedly connected to the outer side of the rotating platform 51. The top of the locking ring 53 is used to place the needle gear housing 80.

[0060] It should be noted that the needle tooth housing 80 is usually annular. Therefore, during the design process, the height of the positioning ring 52 should be greater than the locking ring 53. When the needle tooth 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 needle tooth housing 80. The locking ring 53 is fixedly connected to the processing slide 40 and will not rotate. A micro motor is provided inside the processing slide 40. The output end of the micro motor is fixedly connected to the rotary platform 51, and 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 needle tooth housing 80 to rotate. The following content explains in detail how the positioning ring 52 drives the needle tooth housing 80.

[0061] like Figure 5 - Figure 9 As shown, a micro air pump 522 and a plurality of ventilation tubes 523 are provided inside the positioning ring 52, a plurality of receiving grooves 524 are provided on the outside of the positioning ring 52, a positioning member 525 is slidingly provided inside the receiving groove 524, the interior of the positioning member 525 is fixedly connected with one end of the ventilation tube 523, and the other end of the ventilation tube 523 is fixedly connected with the air vent of the micro air pump 522, a plurality of tooth grooves 801 are provided on the inner side of the needle tooth housing 80, and the micro air pump 522 inflates the interior of the receiving groove 524 through the ventilation tube 523, so that the positioning member 525 moves outward along the receiving groove 524 and cooperates with the tooth groove 801.

[0062] The pinion housing 80 is usually annular, and a plurality of tooth grooves 801 are provided inside the pinion housing 80. Therefore, the present invention provides a micro air pump 522 inside the positioning ring 52, and the micro air pump 522 delivers air to the receiving groove 524 through the ventilation 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 interior of the tooth groove 801. The positioning member 525 cooperates with the tooth groove 801 to realize that the positioning ring 52 drives the pinion housing 80 to rotate. It can be understood that the prior art usually clamps the pinion housing 80 from the outside, such as by adopting Although clamping with a chuck can achieve fixation, the position of the needle tooth housing 80 is difficult to adjust and can only be adjusted by relying on processing equipment. The processing equipment is prone to processing dead angles, resulting in low processing accuracy. For example, when using a chuck to clamp the outside of the needle tooth housing 80, no matter how the position of the processing equipment is adjusted, the processing of the outside of the needle tooth housing 80 is still difficult to achieve and can only be completed through multiple processing. In this embodiment, the characteristics of the needle tooth housing 80 are utilized, and the positioning member 525 is clamped in cooperation with the tooth groove 801. Not only can the position of the needle tooth housing 80 be adjusted during the processing, but the processing accuracy and efficiency are also significantly improved.

[0063] It should be added that in order to prevent the positioning member 525 from sliding out of the accommodating groove 524 when the wind is too strong, limiting grooves are set on both sides of the inner wall of the accommodating groove 524 so that the positioning member 525 can slide along the limiting grooves, thereby effectively preventing accidental sliding out. Through the design of the limiting grooves, it can be ensured that the positioning member 525 can still remain stably in the groove when affected by strong winds. The setting of the limiting grooves is an existing technology and this embodiment will not provide too many detailed descriptions of this.

[0064] Furthermore, a plurality of positioning holes are provided at the top of the locking ring 53, and positioning pins 531 are provided inside the plurality of positioning holes. The positioning pins 531 rise from the positioning holes and are used to fix the needle tooth housing 80. A plurality of shell holes 802 are also provided inside the needle tooth housing 80, and the diameter of the shell hole 802 is larger than the diameter of the positioning pin 531.

[0065] It should be noted that the top of the locking ring 53 is used to place the needle tooth housing 80, and the number of shell holes 802 should be greater than or equal to the number of positioning holes. When the positioning ring 52 drives the needle tooth housing 80 to rotate to the specified position, each positioning hole will be aligned with the corresponding shell hole 802, and the positioning pin 531 rises from the positioning hole and passes through the positioning hole into the shell hole 802, which further fixes the needle tooth housing 80, thereby enhancing the stability of the needle tooth housing 80 during processing on the basis of achieving position adjustment. It can be understood that when the position of the needle tooth housing 80 needs to be adjusted, the positioning pin 531 will drop and return to the inside of the positioning hole, so that the positioning ring 52 can continue to drive the needle tooth housing 80 to rotate, thereby achieving position adjustment of the needle tooth housing 80 during processing.

[0066] 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 air into the interior of the containing tank 524 through the vent hole 521 and the vent pipe 523 .

[0067] It can be understood that in this embodiment, the micro air pump 522 delivers air to the receiving groove 524 through the vent pipe 523, so that the positioning member 525 slides outward along the receiving groove 524 under the action of wind force, and the micro air pump 522 can inhale air from the outside through the vent hole 521 and deliver air to the receiving groove 524. Similarly, the micro air pump 522 can also inhale air from the receiving groove 524 and deliver air to the outside through the vent hole 521, so that the positioning member 525 can 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 needle 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 needle gear housing 80 and the outer side of the positioning ring 52, so that the positioning member 525 can enter the interior of the tooth groove 801, while also avoiding a strong collision between the positioning member 525 and the inner side of the needle gear housing 80, thereby reducing damage to the inner side of the needle gear housing 80.

[0068] like Figure 15 and Figure 16 As shown, a camera 21 is provided inside the equipment box shell 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 needle tooth shell 80 during the processing process for subsequent analysis.

[0069] Example 2

[0070] Based on Example 1, Figure 19 As shown, this embodiment provides a method for processing a reducer housing, comprising:

[0071] Obtain a real-time surface image of the needle tooth housing 80, determine the type of the needle tooth housing based on the real-time surface image, and determine the corresponding matching strategy according to the type of the needle tooth housing. The needle tooth housing type is used to characterize the first spacing value between adjacent tooth grooves 801 in the needle tooth housing 80, and the matching strategy is used to characterize the second spacing value between adjacent positioning parts 525.

[0072] It should be noted that the above-mentioned real-time surface image may be an image of the top of the needle tooth housing 80 , and the needle tooth housing type refers to the specifications of the needle tooth housing 80 divided according to the spacing between adjacent tooth grooves 801 .

[0073] Methods for determining the type of needle tooth shell based on real-time surface images include:

[0074] The real-time surface image is input into the pre-built needle shell classification model to obtain the needle shell type.

[0075] The construction method of the needle tooth shell classification model includes:

[0076] Acquire M groups of data, where M is a positive integer greater than 1, and the M groups of data include historical surface images and historical needle tooth shell types. Use the historical surface images and historical needle tooth shell types as sample sets, divide the sample sets into training sets and test sets, construct a classifier, use the historical surface images in the training set as input data, and use the historical needle tooth shell types in the training set as output data, train the classifier to obtain an initial classifier, test the initial classifier using the test set, and output a classifier that meets a preset accuracy as a needle tooth shell classification model. The classifier is preferably a naive Bayes model or a support vector machine model.

[0077] It should be noted that the difference between different types of pin tooth housings 80 is that the first spacing values between adjacent tooth grooves 801 are different, such as Figure 8 、 Figure 9 and Figure 10 and Figure 11 As shown in the figure, Figure 11 The first spacing value between adjacent tooth grooves 801 is greater than Figure 9 The first spacing value between adjacent tooth grooves 801 is set. Therefore, the present invention needs to adjust the amount of the positioning member 525 extending accordingly according to the different first spacing values. For example, Figure 9 The number of the extending middle positioning members 525 is 3, and Figure 11 The number of extended middle positioning members 525 is 2. It can be understood that the above is only an exemplary description, and the present invention does not limit the number. This not only achieves the cooperation between the positioning members 525 and the adjacent tooth grooves 801, but also avoids extending too many positioning members 525, thereby preventing the inner side of the needle tooth housing 80 from being impacted by the positioning members 525 and causing wear.

[0078] In this embodiment, the method of adjusting the extension amount of the positioning member 525 can be achieved by sending a specific electrical signal to the micro air pump 522. The micro air pump 522 will select the corresponding ventilation tube 523 for ventilation, thereby adjusting the extension amount of the positioning member 525. It can be understood that the above-mentioned coordination strategy is used to characterize the second spacing value between adjacent positioning members 525, and also characterizes the extension amount of the positioning member 525. When the extension amount of the positioning member 525 decreases, the second spacing value between adjacent positioning members 525 will increase, indicating that there is a certain corresponding relationship between the extension amount of the positioning member 525 and the second spacing value. This corresponding relationship enables the distance between adjacent positioning members 525 to be accurately controlled by adjusting the extension amount of the positioning member 525 to meet different processing requirements.

[0079] Obtain a real-time matching image of the pinion housing 80 placed on the locking ring 53, and compare the real-time matching image with a preset standard matching image to obtain a comparison result;

[0080] In this embodiment, when the needle tooth housing 80 is placed on the locking ring 53, the adjacent tooth grooves 801 will cooperate with the positioning member 525. At this time, the standard matching image refers to the image obtained when the positioning ring 52 drives the needle tooth housing 80 to rotate to the preset processing position. It can be understood that before the needle tooth housing 80 is processed, it needs to be adjusted to the preset processing position to ensure that subsequent processing operations proceed smoothly. The preset position is usually precisely planned to ensure that during the processing process, the workpiece will not collide with other parts of the equipment, thereby improving the safety and accuracy of the processing process.

[0081] The method for comparing the real-time matching image with the preset standard matching image to obtain the comparison result includes:

[0082] The actual straight line equation between any set of corresponding shell holes 802 is obtained according to the real-time matching image, and the standard straight line equation between any set of corresponding shell holes 802 is obtained according to the standard matching image. The rotation angle is determined according to the actual straight line equation and the standard straight line equation, and the rotation angle is used as the comparison result.

[0083] It can be understood that a group of corresponding shell holes 802 refers to two shell holes 802 that are symmetrical along the radial direction, such as Figure 17 As shown, the first mounting hole 802a and the second mounting hole 802b are a group of corresponding shell holes 802. It can be understood from the above content that when the positioning ring 52 drives the needle tooth housing 80 to rotate to the specified position, each positioning hole has a corresponding shell hole 802. Therefore, in this embodiment, the positioning holes are set in the same way as the shell holes 802 are set. Therefore, as long as a group of corresponding shell holes 802 are rotated to a preset position, it is equivalent to rotating the needle tooth housing 80 to a preset position, which is convenient for subsequent fixation through the positioning pin 531 in the positioning hole.

[0084] It should be added that, in this embodiment, the straight line equation is established, and the top of the processing 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 matching image until the actual straight line equation coincides with the standard straight line equation, thereby determining the rotation angle.

[0085] The needle gear housing 80 is driven to rotate according to the comparison result. When the rotation stops, the positioning pin 531 is raised and enters the housing hole 802 to fix the needle gear housing 80.

[0086] Specifically, when the rotation stops, the position of the positioning hole corresponds to the position of the shell hole 802. Therefore, by raising the positioning pin 531, the positioning pin 531 can enter the shell hole 802. The raising of the positioning pin 531 can be controlled by the 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 the hydraulic system controls the raising and lowering of objects as an existing technology, and this embodiment will not go into details about this.

[0087] In this embodiment, artificial intelligence technology is used to first analyze the real-time surface image to determine the type of the needle tooth housing, and then determine the corresponding matching strategy based on the type of the needle tooth housing, so that the positioning member 525 can enter the interior of the tooth groove 801, while also avoiding a strong collision between the positioning member 525 and the inner side of the needle tooth housing 80, reducing damage to the inner side of the needle tooth housing 80, and then analyzing the real-time matching image to obtain the angle at which the needle tooth housing 80 needs to rotate, so that the position of the positioning hole corresponds to the position of the shell hole 802, and the subsequent positioning pin 531 can enter the shell hole 802 to further fix the needle tooth housing 80.

[0088] Example 3

[0089] Based on Example 1, the processing method for the reducer housing further includes:

[0090] The real-time matching image is analyzed to obtain the spacing distance, which is input into the pre-built correspondence table to obtain the corresponding target inflation volume. The spacing 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 amount of gas that the micro air pump 522 fills into the accommodating groove 524.

[0091] It should be noted that if Figure 18 As shown, Figure 18 The interval distance sr is shown in the figure. The interval distance obtained by analyzing the real-time matching image can be obtained by stereo vision technology based on parallax. For example, the distance of the object can be estimated by calculating the parallax between images through the existing algorithm. This embodiment will not go into details about this.

[0092] It can be understood that, because in the present invention, one end of the positioning member 525 is required to enter the interior of the tooth groove 801 so that the positioning member 525 is matched with the tooth groove 801, then since the distance between the positioning member 525 and the tooth groove 801 is not a fixed value, it is necessary to adjust the distance that the positioning member 525 extends outward according to the actual detected distance. Therefore, in this embodiment, the interval distance is obtained by real-time image analysis, and the target inflation volume is obtained according to the interval distance, so that the micro air pump 522 inflates the interior of the accommodating groove 524 according to the target inflation volume, indirectly adjusting the distance that the positioning member 525 extends outward, which 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.

[0093] The methods for constructing the correspondence table include:

[0094] A relationship table is stored in advance, where each row represents a corresponding relationship. The corresponding relationship table includes an interval distance column and a target inflation volume column. The interval distance and the target inflation volume are written into the interval distance column and the target inflation volume column as a row of data, respectively, to establish the corresponding relationship table.

[0095] The above embodiments can be implemented in whole or in part via 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 comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via a wired or wireless network. The computer-readable storage medium can be any available medium accessible by a computer, or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, or magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0096] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0097] Those skilled in the art will clearly understand that, for the 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 aforementioned method embodiments and will not be repeated here.

[0098] In the 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 type. In actual implementation, there may be other division methods, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0101] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

[0102] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A processing device for a reducer housing, comprising a device base (10) and a device housing (20), characterized in that: The bottom end of the equipment case (20) is provided with an equipment base (10), the interior of the equipment case (20) is provided with a processing slide (40), the top end of the processing slide (40) is fixedly connected to a processing support (50), 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), the top end of the locking ring (53) is provided with a plurality of positioning holes, the interior of the plurality of positioning holes is provided with positioning pins (531), the outer side of the positioning ring (52) is provided with a plurality of positioning members (525) for sliding, the inner side of the locking ring (53) is provided with a rotary platform (51) for rotation, and the outer side of the rotary platform (51) is fixedly connected to the positioning ring (52); A primary slide rail (30) is further provided inside the equipment housing (20), a processing slide table (40) is slidably provided on the top end of the primary slide rail (30), and a camera (21) is provided inside the equipment housing (20), and the camera (21) is located above the processing slide table (40); The top of the locking ring (53) is used to place the needle tooth housing (80), the positioning ring (52) drives the needle tooth housing (80) to rotate through a plurality of positioning members (525), and the positioning pin (531) rises from the positioning hole to fix the needle tooth housing (80); a micro air pump (522) and a plurality of ventilation tubes (523) are provided inside the positioning ring (52), a plurality of receiving grooves (524) are provided on the outside of the positioning ring (52), and a positioning member (525) is slidably provided inside the receiving groove (524), the interior of the positioning member (525) is fixedly connected to one end of the ventilation tube (523), and the other end of the ventilation tube (523) is fixedly connected to the ventilation port of the micro air pump (522); The inner side of the needle tooth housing (80) is provided with a plurality of tooth grooves (801), and the micro air pump (522) inflates the interior of the accommodating groove (524) through the vent pipe (523), so that the positioning member (525) moves outward along the accommodating groove (524) and cooperates with the tooth grooves (801). The inner side of the needle tooth housing (80) is further provided with a plurality of shell holes (802), and the diameter of the shell holes (802) is larger than the diameter of the positioning pin (531); The processing methods of the processing equipment for the reducer housing include: Acquiring a real-time surface image of the pinion housing (80), determining a pinion housing type based on the real-time surface image, and determining a corresponding matching strategy based on the pinion housing type, wherein the pinion housing type is used to characterize a first spacing value between adjacent tooth grooves (801) in the pinion housing (80), and the matching strategy is used to characterize a second spacing value between adjacent positioning members (525); Obtaining a real-time matching image of the needle tooth housing (80) placed on the locking ring (53), and comparing the real-time matching image with a preset standard matching image to obtain a comparison result; The needle tooth housing (80) is driven to rotate according to the comparison result. When the rotation stops, the positioning pin (531) is raised, and the positioning pin (531) enters the housing hole (802) to fix the needle tooth housing (80).

2. The processing equipment for reducer housing according to claim 1, characterized in that: A processing frame (60) and a plurality of manipulators (70) are further provided inside the equipment 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). The execution ends of the plurality of manipulators (70) are equipped with different processing tools, and the processing tools include at least a first tool (71) and a second tool (72).

3. The processing equipment for reducer housing according to claim 2, characterized in that: A vent hole (521) is also 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 interior of the containing tank (524) through the vent hole (521) and the vent pipe (523).

4. The processing method for processing equipment for a reducer housing according to claim 1, characterized in that: The method of comparing the real-time matching image with the preset standard matching image to obtain the comparison result includes: The actual straight line equation between any set of corresponding shell holes (802) is obtained according to the real-time matching image, the standard straight line equation between any set of corresponding shell holes (802) is obtained according to the standard matching image, the rotation angle is determined according to the actual straight line equation and the standard straight line equation, and the rotation angle is used as a comparison result.

5. The processing method for processing equipment for a reducer housing according to claim 1, characterized in that: The method for determining the type of the needle tooth shell based on the real-time surface image includes: The real-time surface image is input into the pre-built needle shell classification model to obtain the needle shell type; The construction method of the needle tooth shell classification model includes: Acquire M groups of data, where M is a positive integer greater than 1, and the M groups of data include historical surface images and historical needle tooth shell types. Use the historical surface images and historical needle tooth shell types as sample sets, divide the sample sets into training sets and test sets, construct a classifier, use the historical surface images in the training set as input data, and the historical needle tooth shell types in the training set as output data, train the classifier to obtain an initial classifier, test the initial classifier using the test set, and output a classifier that meets a preset accuracy as a needle tooth shell classification model.

6. The processing method for processing equipment for a reducer housing according to claim 1, characterized in that: Also includes: The real-time matching image is analyzed to obtain a spacing distance, which is input into a pre-constructed correspondence table to obtain a corresponding target inflation volume, wherein the spacing 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 amount of gas that the micro air pump (522) fills into the receiving groove (524).

7. The processing method for processing equipment for a reducer housing according to claim 6, characterized in that: The method for constructing the correspondence table includes: A relationship table is stored in advance, where each row represents a corresponding relationship. The corresponding relationship table includes an interval distance column and a target inflation volume column. The interval distance and the target inflation volume are written into the interval distance column and the target inflation volume column as a row of data, respectively, to establish the corresponding relationship table.

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