Assembly process for multistage gear of actuator

Abstract

The invention provides an actuator multi-stage gear assembly process, which is characterized in that firstly, how to break through the bottleneck of an existing assembly process in the aspects of spatial constraint and multi-stage cooperation is researched, and a traditional linear press-fitting mode causes insufficient subsequent assembly space after a first-stage gear is assembled, so that a second-stage gear is changed to be pre-assembled to reserve adjustment allowance; meanwhile, a rotary pressing mechanism is developed in the three-stage gear assembling stage to solve the deep cavity assembling problem; for gear meshing angle control, a dynamic rotation adjusting mechanism is introduced, and the tooth meshing angle is matched in real time in the press fitting process; in order to solve the problem of low cooperative efficiency of multiple devices, an orthogonally-arranged conveying line structure is explored, multi-station integration is achieved through spatial crossing of an actuator conveying line and a gear conveying line, a three-stage assembly mechanism adopts a composite function design, second-stage final press fitting is synchronously triggered when third-stage assembly is completed, and the assembly efficiency is improved. And sequential coupling of multi-stage actions is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of actuator manufacturing, and particularly to a multi-stage gear assembly process for an actuator. Background Art

[0002] An actuator is a key power transmission and control component in the automotive air outlet system. Among them, the LIN actuator is highly regarded due to its characteristics of miniaturization, lightweight, high life, low noise, high EMC performance, and low torque. Compared with the general actuator for automotive air conditioning systems abroad, the LIN actuator reduces the noise of the entire actuator and makes it operate more smoothly through a micro motor speed self-adjustment model, a delay high-precision control technology, a sine subdivision drive method, a high subdivision number and a large Flash domestic chip, and an adaptive current chopping technology.

[0003] The multi-stage gear is a key transmission part inside the actuator, which directly affects the output torque and precision of the actuator. The precise and damage-free assembly of the multi-stage gear is a key factor affecting the noise and smooth operation of the actuator. However, the existing multi-stage gear assembly process for actuators still has the following obvious defects: (1). Since the internal space of the actuator is relatively compact, the gripper for grasping the gear material is difficult to extend into the internal space of the actuator, so it is difficult to install the multi-stage gear in place. (2). The multi-stage gears complete transmission through the meshing of the teeth. When the first-stage gear is installed, if the subsequent gears are forcibly installed at an abnormal installation angle or the teeth of the two gears are in a non-meshing state when being forcibly installed during the installation of the subsequent gears, the teeth of the two gears will be damaged, resulting in problems such as abnormal noise and transmission failure during the operation of the actuator. Summary of the Invention

[0004] The problem to be solved by the present invention is to provide a multi-stage gear assembly process for an actuator that facilitates the installation of the multi-stage gear in place and causes less damage to the gears during installation.

[0005] The technical solution adopted by the present invention to solve the above problems is: a multi-stage gear assembly process for an actuator, comprising the following steps: Step 1, gear feeding: After being preliminarily screened by the corresponding gear state recognition mechanisms, three gear transportation lines respectively transport three types of gears to the corresponding gear transfer mechanisms. Step 2, gear transfer: After adjusting the angle of the gear, the gear transfer mechanism transfers the gear to the actuator conveying line. Step 3, actuator loading: The actuator conveying line includes a first station, a second station, and a third station arranged along the length and corresponding to the three gear transfer mechanisms respectively; the actuator is fed step by step forward on the actuator conveying line. Step 4, Complete assembly of the first-stage gear: The first-stage gear assembly mechanism includes first-stage gear jaws; when the actuator is conveyed to the first station, the first-stage gear jaws grab the first-stage gear from one of the gear transfer mechanisms and completely assemble the first-stage gear to the actuator through a pressing-down action; Step 5, Pre-assembly of the second-stage gear: The second-stage gear assembly mechanism includes second-stage gear jaws; when the actuator is conveyed to the second station, the second-stage gear jaws grab the second-stage gear from one of the gear transfer mechanisms and pre-assemble the second-stage gear to the actuator through a pressing-down action; Step 6, Complete assembly of the third-stage gear: The third-stage gear assembly mechanism includes a third-stage gear suction structure; when the actuator is conveyed to the third station, the third-stage gear suction structure grabs the third-stage gear from one of the gear transfer mechanisms and performs a combined action of pressing down and rotating on the third-stage gear. When the tooth part of the third-stage gear rotates to mesh with the tooth part of the first-stage gear, the third-stage gear is pressed down and completely assembled to the actuator; the first-stage gear is driven to rotate by the third-stage gear; Step 7, Complete assembly of the second-stage gear: The third-stage gear assembly mechanism includes a second-stage gear press-fitting structure; the second-stage gear press-fitting structure performs a pressing-down action on the second-stage gear. When the tooth part of the first-stage gear rotates to mesh with the tooth part of the second-stage gear, the second-stage gear is pressed down and completely assembled to the actuator.

[0006] Compared with the prior art, in the present invention, three kinds of gear materials are respectively conveyed to the corresponding gear transfer mechanisms through the three gear conveying lines in step 1. During the conveying process, the gears are preliminarily screened by the gear state recognition mechanism to screen out gears with poor initial states, such as gears placed laterally, reversely or incompletely, so as to prevent these gears from entering the next step and avoid damaging other parts or generating abnormal noises after these gears with poor states are installed in the actuator; after the initial states of the gears are preliminarily screened, on the basis of transferring the gears, the gear transfer mechanism in step 2 adjusts the gear angle to make the central axis of the gear parallel to the central axis of the mounting hole. If there is an abnormal angle between the two central axes, the gear may be installed in the actuator at an abnormal angle, resulting in problems of incomplete installation, and the inclined installation may damage the mounting hole of the actuator and adjacent gears, causing abnormal noises; the actuator to be installed with gears is conveyed along the first station, the second station and the third station of the actuator conveying line in step 3 to pass through three gear transfer mechanisms respectively for assembling three gears; the first-level gear jaw in step 4 grabs the first-level gear. At this time, since other gears have not been assembled yet, there is enough space inside the actuator for the first-level gear jaw to press down, so the first-level gear is completely assembled in step 4; the second-level gear jaw in step 5 grabs the second-level gear. At this time, since the first-level gear has been assembled, the space inside the actuator is not enough for the second-level gear jaw to press down completely, and when the tooth parts of the first-level gear and the second-level gear are not meshed, pressing down completely may damage the tooth parts of both, so the second-level gear is pre-assembled in step 5, that is, the second-level gear is pressed down to the extent that it is just not meshed with the first-level gear; the third-level gear suction structure in step 6 sucks the gear. At this time, since the first-level and second-level gears are already in the actuator, the space inside the actuator is further reduced. Therefore, using a suction structure with a smaller size instead of a jaw structure is beneficial for reaching into the actuator to completely install the third-level gear, and the third-level gear suction structure can rotate synchronously when pressing down, enabling the third-level gear to have a self-aligning mechanism. When the tooth parts of the third-level gear and the first-level gear are meshed, the third-level gear will be pressed down and completely assembled, thus avoiding damage to the tooth parts during the installation of the third-level gear, and the first-level gear can also be driven to rotate synchronously while the third-level gear is being pressed down; the second-level gear pressing structure in step 7 presses down the second-level gear, enabling the second-level gear to also have a self-aligning mechanism. When the tooth parts of the first-level gear rotate to be meshed with the tooth parts of the second-level gear, the second-level gear will be pressed down and completely assembled by the second-level gear pressing structure, thus avoiding damage to the tooth parts during the installation of the second-level gear.

[0007] According to an embodiment of the present invention, it includes an actuator multi-stage gear assembly device. The actuator multi-stage gear assembly device includes a workbench. The actuator conveying line is arranged along the length direction of the upper end surface of the workbench. The three gear transportation lines for three types of gears are respectively arranged along the width direction of the upper end surface of the workbench. The first-stage gear assembly mechanism, the second-stage gear assembly mechanism, and the third-stage gear assembly mechanism are sequentially arranged along the length direction of the actuator conveying line, and the actuator conveying line is located at the end of the three gear transportation lines; further includes three gear feeding mechanisms arranged in the workbench.

[0008] According to an embodiment of the present invention, the gear transportation line includes a transportation line track arranged along the width direction of the upper end surface of the workbench and a gear grasping part moving along the transportation line track; The gear feeding mechanism includes a to-be-assembled gear rack, an assembled gear rack, two tray lifting power parts respectively arranged on the to-be-assembled gear rack and the assembled gear rack, a tray transfer module arranged on the upper end surface of the workbench, and a plurality of trays; the tray transfer module includes a transfer slide rail and a tray clamping part slidably arranged on the transfer slide rail; a plurality of trays filled with gears are arranged in the to-be-assembled gear rack in sequence along the height direction of the to-be-assembled gear rack; The gear state recognition mechanism includes a camera module arranged on the transportation line track and a lighting module arranged on the upper end surface of the workbench.

[0009] According to an embodiment of the present invention, step 1 includes the following sub-steps: Step 11: The tray clamping part clamps the tray from the to-be-assembled gear rack; Step 12: The lighting module illuminates the gears on the tray; the camera module performs state recognition on the gears on the gear feeding mechanism; Step 13: The gear grasping part grasps the gears with qualified state recognition from the tray, moves along the transportation line track to the gear transfer mechanism and puts down the gears; Step 14: After the gears in the to-be-assembled gear rack are all grasped, the tray clamping part is transferred to the assembled gear rack through the transfer slide rail and puts down the tray.

[0010] According to an embodiment of the present invention, the gear transfer mechanism includes a transfer platform, a transfer track arranged on the transfer platform, and a transfer fixture slidably arranged on the transfer track; the transfer fixture has a gear angle adjustment hole; In step 2, the transfer fixture transfers the gear from one end of the transfer track to the other end, and the gear angle adjustment hole adjusts the central axis angle of the gear during the transfer process.

[0011] According to an embodiment of the present invention, the actuator conveying line includes a conveying track, an assembly table slidably disposed on the conveying track, and three lifting modules sequentially disposed on the conveying track; the three lifting modules are respectively disposed below the first station, the second station, and the third station; the actuator is fixed to the assembly table; In steps 4, 5, 6, and 7, when the assembly table sequentially passes through the first station, the second station, and the third station, it is sequentially lifted by the corresponding lifting module to position the assembly table.

[0012] According to an embodiment of the present invention, the first-stage gear assembly mechanism includes a first-stage gantry, a first-stage transfer slide rail disposed on the first-stage gantry, a first-stage transverse movement module slidably disposed on the first-stage transfer slide rail, and a first-stage longitudinal movement module slidably disposed on the first-stage transverse movement module; the first-stage gear gripper is disposed on the first-stage longitudinal movement module; In step 4, after the first-stage gear gripper grabs the first-stage gear, it moves above the actuator through the first-stage transverse movement module, and then the first-stage gear is completely assembled to the actuator through the first-stage longitudinal movement module.

[0013] According to an embodiment of the present invention, the second-stage gear assembly mechanism includes a second-stage gantry, a second-stage transfer slide rail disposed on the second-stage gantry, a second-stage transverse movement module slidably disposed on the second-stage transfer slide rail, and a second-stage longitudinal movement module slidably disposed on the second-stage transverse movement module; the second-stage gear gripper is disposed on the second-stage longitudinal movement module; In step 5, after the second-stage gear gripper grabs the second-stage gear, it moves above the actuator through the second-stage transverse movement module, and then the second-stage gear is pre-assembled to the actuator through the second-stage longitudinal movement module, and the tooth portions of the second-stage gear and the first-stage gear are in a non-meshing state.

[0014] According to an embodiment of the present invention, the third-stage gear assembly mechanism includes a third-stage gantry, a third-stage transfer slide rail disposed on the third-stage gantry, a third-stage transverse movement module slidably disposed on the third-stage transfer slide rail, and a third-stage longitudinal movement module disposed on the third-stage transverse movement module; the third-stage gear suction structure includes a rotating portion and a suction portion, and the rotating portion and the suction portion are disposed on the third-stage longitudinal movement module; In step 6, after the suction portion sucks the third-stage gear, it moves above the actuator through the third-stage transverse movement module, and then the third-stage longitudinal movement module and the rotating portion generate a combined action of pressing down and rotating to completely assemble the third-stage gear to the actuator.

[0015] According to an embodiment of the present invention, the secondary gear press-fitting structure includes a mounting arm disposed on the conveying track, an extended positioning portion disposed on the mounting arm, and a secondary gear pressing portion disposed at one end of the extended positioning portion; the secondary gear pressing portion includes a push rod disposed on the extended positioning portion, and an elastic member disposed between the extended positioning portion and the push rod; Step 7 includes the following sub-steps: Step 71: The lifting module lifts the actuator through the assembly table, so that the pre-assembled secondary gear moves upward; Step 72: The push rod is driven by the secondary gear to move upward, and the elastic member is compressed; Step 73: The primary gear is driven by the tertiary gear to rotate. When the tooth portion of the primary gear rotates to mesh with the tooth portion of the secondary gear, the elastic member rebounds, and the push rod pushes the secondary gear downward, so that the secondary gear is completely assembled to the actuator. Description of the Drawings

[0016] Figure 1 It is a flowchart of the multi-stage gear assembly process of the actuator according to a preferred embodiment of the present invention; Figure 2 It is a perspective view of one side of the equipment used in the multi-stage gear assembly process of the actuator according to a preferred embodiment of the present invention; Figure 3 It is a top view of the equipment used in the multi-stage gear assembly process of the actuator according to a preferred embodiment of the present invention; Figure 4 It is a front view of the equipment used in the multi-stage gear assembly process of the actuator according to a preferred embodiment of the present invention; Figure 5 It is a perspective view of the other side of the equipment used in the multi-stage gear assembly process of the actuator according to a preferred embodiment of the present invention; Figure 6 It is a state diagram of the actuator at three workstations according to a preferred embodiment of the present invention; Figure 7 It is a state diagram before the operation of the tertiary gear assembly mechanism according to a preferred embodiment of the present invention; Figure 8 It is a state diagram after the operation of the tertiary gear assembly mechanism according to a preferred embodiment of the present invention; Figure 9 It is a cross-sectional view of the actuator conveying line according to a preferred embodiment of the present invention; Figure 10 It is a perspective view of the fully assembled state of the primary gear in Step 4; Figure 11 It is a perspective view of the pre-assembled state of the secondary gear in Step 5; Figure 12 It is a sectional view schematic diagram of the pre-assembly state of the secondary gear in Step 5; Figure 13 It is a three-dimensional schematic diagram of the fully assembled state of the tertiary gear in Step 6; Figure 14 It is a three-dimensional schematic diagram of the fully assembled state of the secondary gear in Step 7; Figure 15 It is a three-dimensional schematic diagram of the tooth parts of two gears in a non-meshing state during the multi-stage gear assembly process; Figure 16 It is a side view schematic diagram of the central axes of two gears in an abnormal angle state during the multi-stage gear assembly process.

[0017] In the figure: Workbench 1; Actuator conveying line 2; conveying track 21, assembly table 22, lifting module 23; first station 211, second station 212, third station 213; assembly plate 221, actuator fixing part 222; lifting power part 231, lifting plate 232, positioning column 233; positioning hole 2211; Gear conveying line 3; conveying line track 31, gear grasping part 32; Primary gear assembly mechanism 4; primary gear jaw 41, primary gantry 42, primary transfer sliding rail 43, primary transverse movement module 44, primary longitudinal movement module 45; Secondary gear assembly mechanism 5; secondary gear jaw 51, secondary gantry 52, secondary transfer sliding rail 53, secondary transverse movement module 54, secondary longitudinal movement module 55; Tertiary gear assembly mechanism 6; tertiary gear suction structure 61, secondary gear press-fitting structure 62, tertiary gantry 63, tertiary transfer sliding rail 64, tertiary transverse movement module 65, tertiary longitudinal movement module 66; rotating part 611, suction part 612; secondary gear downward pressing part 621, mounting arm 622, extended positioning part 623; rotating power part 6111, rotating transmission part 6112; push rod 6211, elastic part 6212; Gear transfer mechanism 7; transfer platform 71, transfer track 72, transfer fixture 73; gear angle adjustment hole 731; Gear feeding mechanism 8; to-be-assembled gear rack 81, assembled gear rack 82, tray lifting power part 83, tray transfer module 84, tray 85; transfer sliding rail 841, tray clamping part 842; Gear state recognition mechanism 9; camera module 91, lighting module 92. Detailed implementation manners

[0018] Before describing any embodiments of the present invention in detail, it should be understood that the present invention is not limited in its application to the details of the construction and arrangement of components set forth in the following description or illustrated in the following drawings. The present invention is capable of other embodiments and of being practiced or carried out in various ways. Additionally, it should be understood that the language and terminology used herein are for the purpose of description and should not be regarded as limiting. As used herein, the terms "comprising" or "having" and their variants are intended to cover the listed items and their equivalents as well as additional items. Unless otherwise specified or limited, the terms "mounted," "connected," "supported," and "coupled" and their variants are used broadly and cover both direct and indirect mounting, connection, support, and coupling. Further, "connected" and "coupled" are not limited to physical or mechanical connection or coupling.

[0019] Also, in the first aspect, in the disclosure of the present invention, the orientation or positional relationship indicated by terms such as "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention; in the second aspect, the term "a" should be understood as "at least one" or "one or more." That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of this element can be multiple. The term "a" should not be construed as limiting the quantity.

[0020] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and illustrated in the embodiments, and without departing from the said principles, the embodiments of the present invention can have any deformation or modification.

[0021] The following further describes the embodiments of the present invention with reference to the drawings.

[0022] In the traditional multi-stage gear assembly process of an actuator, there are systematic defects in gear installation path planning and meshing angle control. The multi-stage gear assembly operation is restricted by the internal cavity size of the actuator, and it is difficult for mechanical claws to effectively reach the deep cavity installation position, resulting in insufficient or skewed gear pressing stroke and incomplete assembly; when assembling multi-stage gears, due to the teeth being in a non-meshing state as shown in Figure 15 or due to the gear central axis having a situation such as Figure 16For the abnormal angles shown, during the press-fitting process, rigid collisions occur between teeth, resulting in plastic deformation or micro-cracks in the tooth profile; multiple assembly processes need to be completed in segments by independent equipment, and the repeated positioning errors accumulate during the gear transfer process, leading to the misalignment of the assembly reference. The complexity of the collaborative control of the equipment increases exponentially with the increase in the number of gear stages; damage to the gear meshing surface will cause the vibration and noise of the transmission system to exceed the standard, shortening the mean time between failures of the actuator.

[0023] When facing the above problems, the traditional linear press-fitting mode results in insufficient subsequent assembly space after the first-stage gear assembly. The present invention considers changing the second-stage gear to pre-assembly to retain adjustment margins. At the same time, a rotary downward pressing mechanism is developed at the third-stage gear assembly stage to solve the problem of deep cavity assembly; for the control of the gear meshing angle, the present invention introduces a dynamic rotary adjustment mechanism to match the tooth meshing angle in real time during the press-fitting process; aiming at the problem of low collaborative efficiency of multiple devices, the present invention explores a conveyor line structure with an orthogonal layout, and realizes multi-station integration through the spatial intersection of the actuator conveyor line 2 and the gear transportation line 3. Among them, the third-stage assembly mechanism adopts a composite function design, and triggers the final press-fitting of the second stage synchronously when the third stage assembly is completed, realizing the timing coupling of multi-stage actions.

[0024] For this, please refer to Figure 1-14 A multi-stage gear assembly process of an actuator shown, which includes the following steps: Step 1, Gear feeding: After being preliminarily screened by the corresponding gear state recognition mechanism 9, three gear transportation lines 3 respectively transport three types of gears to the corresponding gear transfer mechanism 7; Step 2, Gear transfer: After adjusting the gear angle by the gear transfer mechanism 7, the gear is transferred to the actuator conveyor line 2; Step 3, Actuator loading: The actuator conveyor line 2 includes a first station 211, a second station 212, and a third station 213 arranged along the length and corresponding to the three gear transfer mechanisms 7 respectively; the actuator is fed step by step on the actuator conveyor line 2; Step 4, Complete assembly of the first-stage gear: The first-stage gear assembly mechanism 4 includes a first-stage gear jaw 41; when the actuator is transported to the first station 211, the first-stage gear jaw 41 grabs the first-stage gear from one of the gear transfer mechanisms 7 and completely assembles the first-stage gear to the actuator through a downward pressing action; Step 5, Pre-assembly of the second-stage gear: The second-stage gear assembly mechanism 5 includes a second-stage gear jaw 51; when the actuator is transported to the second station 212, the second-stage gear jaw 51 grabs the second-stage gear from one of the gear transfer mechanisms 7 and pre-assembles the second-stage gear to the actuator through a downward pressing action; Step 6, Complete assembly of the third-stage gear: The third-stage gear assembly mechanism 6 includes a third-stage gear suction structure 61; when the actuator is conveyed to the third station 213, the third-stage gear suction structure 61 grabs the third-stage gear from one of the gear transfer mechanisms 7, and performs a combined action of pressing down and rotating on the third-stage gear. When the teeth of the third-stage gear rotate to mesh with the teeth of the first-stage gear, the third-stage gear is pressed down and completely assembled to the actuator; the first-stage gear is driven to rotate by the third-stage gear; Step 7, Complete assembly of the second-stage gear: The third-stage gear assembly mechanism 6 includes a second-stage gear press-fitting structure 62; the second-stage gear press-fitting structure 62 performs a pressing-down action on the second-stage gear. When the teeth of the first-stage gear rotate to mesh with the teeth of the second-stage gear, the second-stage gear is pressed down and completely assembled to the actuator.

[0025] In actual use, the present invention respectively conveys three kinds of gear materials to the corresponding gear transfer mechanisms 7 through the three gear transportation lines 3 in step 1. During the transportation process, the gear state recognition mechanism 9 preliminarily screens the gears to screen out gears with poor initial states, such as gears placed laterally, reversely, or incomplete gears, so as to prevent these gears from entering the next step and also avoid damage to other parts or abnormal noises caused by these gears with poor states being installed in the actuator after being loaded; after the preliminary screening of the initial state of the gears, the gear transfer mechanism 7 in step 2 adjusts the gear angle on the basis of transferring the gears to make the central axis of the gear parallel to the central axis of the mounting hole. If there is an abnormal angle between the two central axes, the gear may be installed in the actuator at an abnormal angle, resulting in problems such as improper installation, and the inclined installation may damage the mounting hole of the actuator and adjacent gears, causing abnormal noises; the actuator to be installed with gears is conveyed along the first station 211, the second station 212, and the third station 213 of the actuator transportation line 2 through step 3 to pass through the three gear transfer mechanisms 7 respectively for assembling the three gears; the first-stage gear jaw 41 grabs the first-stage gear through step 4. At this time, since the other gears have not been assembled yet, there is enough space inside the actuator for the first-stage gear jaw 41 to press down, so the first-stage gear is completely assembled in step 4; the second-stage gear jaw 51 grabs the second-stage gear through step 5. At this time, since the first-stage gear has been assembled, the space inside the actuator is not enough for the second-stage gear jaw 51 to press down completely, and when the tooth parts of the first-stage gear and the second-stage gear are not engaged, pressing down completely may damage the tooth parts of both, so the second-stage gear is pre-assembled in step 5, that is, the second-stage gear is pressed down to a degree where it is just not engaged with the first-stage gear; the third-stage gear suction structure 61 sucks the gear through step 6. At this time, since the first-stage and second-stage gears are already in the actuator, the space inside the actuator is further reduced. Therefore, it is beneficial to use a suction structure with a smaller size instead of a jaw structure to extend into the actuator to completely install the third-stage gear, and the third-stage gear suction structure 61 can rotate synchronously when pressing down, enabling the third-stage gear to have a self-aligning mechanism. When the tooth part of the third-stage gear meshes with the tooth part of the first-stage gear, the third-stage gear will be pressed down and completely assembled, thus avoiding damage to the tooth part during the installation of the third-stage gear, and the first-stage gear can also be driven to rotate synchronously while the third-stage gear is being pressed down; the second-stage gear pressing structure 62 presses down the second-stage gear through step 7, enabling the second-stage gear to also have a self-aligning mechanism. When the tooth part of the first-stage gear rotates to mesh with the tooth part of the second-stage gear, the second-stage gear will be pressed down and completely assembled by the second-stage gear pressing structure 62, thus avoiding damage to the tooth part during the installation of the second-stage gear.

[0026] Please continue to refer to Figure 2-5, including an actuator multi-stage gear assembly device, which includes a workbench 1. The actuator conveyor line 2 is arranged along the length direction of the upper end surface of the workbench 1. Three gear transport lines 3 for three types of gears are respectively arranged along the width direction of the upper end surface of the workbench 1. The first-stage gear assembly mechanism 4, the second-stage gear assembly mechanism 5, and the third-stage gear assembly mechanism 6 are arranged in sequence along the length direction of the actuator conveyor line 2, and the actuator conveyor line 2 is located at the end of the three gear transport lines 3; further including three gear feeding mechanisms 8 arranged in the workbench 1.

[0027] Specifically, the workbench 1 can be realized by combining a metal frame and a tabletop panel, providing an installation foundation for the actuator conveyor line 2, the gear transport lines 3, the first-stage gear assembly mechanism 4, the second-stage gear assembly mechanism 5, the third-stage gear assembly mechanism 6, and the three gear feeding mechanisms 8; the actuator conveyor line 2 refers to a conveyor system arranged along the length direction of the workbench 1, used to sequentially transport the actuators to be assembled to the first-stage, second-stage, and third-stage gear assembly stations; the three gear transport lines 3 refer to independent material transport channels arranged along the width direction of the workbench 1, which can be specifically realized by a conveyor belt with a guiding track in cooperation with a grasping robotic arm, respectively transporting three different specifications of gears to the corresponding assembly stations; the first-stage gear gripper 41 refers to an end effector used to grasp the first-stage gear, which can be specifically realized by a pneumatic gripper or an electric fixture, and presses the first-stage gear into a predetermined position inside the actuator through a vertical pressing action; the second-stage gear gripper 51 refers to an end effector used to grasp the second-stage gear, which can be specifically realized by an adaptive gripper with a pressure sensor, and pre-assembles the second-stage gear to the reserved clearance position inside the actuator through a pressing action; the third-stage gear suction structure 61 refers to a vacuum adsorption device used to grasp the third-stage gear, which can be specifically realized by a vacuum chuck driven by a rotary motor, and adjusts the gear meshing angle through a combined movement of rotation and pressing; the second-stage gear pressing structure 62 refers to an execution unit used to complete the final pressing of the second-stage gear, ensuring that the gear teeth are meshed in place through elastic buffering.

[0028] Please continue to refer to Figure 2-5 , where the gear transport line 3 includes a transport line track 31 arranged along the width direction of the upper end surface of the workbench 1 and a gear grasping part 32 moving along the transport line track 31; the gear feeding mechanism 8 includes a to-be-loaded gear rack 81, a loaded gear rack 82, two tray lifting power parts 83 respectively arranged on the to-be-loaded gear rack 81 and the loaded gear rack 82, a tray transfer module 84 arranged on the upper end surface of the workbench 1, and a plurality of trays 85; the tray transfer module 84 includes a transfer slide rail 841 and a tray clamping part 842 slidably arranged on the transfer slide rail 841; a plurality of trays 85 filled with gears are arranged in sequence along the height direction of the to-be-loaded gear rack 81 inside the to-be-loaded gear rack 81; the gear state recognition mechanism 9 includes a camera module 91 arranged on the transport line track 31 and a lighting module 92 arranged on the upper end surface of the workbench 1.

[0029] Specifically, the gear feeding mechanism 8 continuously supplies the stacked gear trays 85 to the starting end of the transport line track 31. When it is detected that the tray 85 is in place, the gear grasping part 32 moves along the width direction of the transport line track 31 to the material taking position, and completes the grasping of a single gear through the opening and closing action of the clamping jaws, and then moves along the track to the corresponding gear transfer mechanism 7 at the end; the whole process realizes parallel operation through three independently operating feeding - transport - transfer channels, and the gear types of each channel do not interfere with each other; the gear grasping part 32 keeps horizontal movement during the transportation process to avoid gear displacement caused by vertical jitter.

[0030] Furthermore, the to - be - loaded gear tray rack 81 and the loaded gear tray rack 82 are configured as storage units for independently vertically stacking the trays 85. Each tray lifting power part 83 may include a lead screw lifting mechanism or a hydraulic lifting device; the transfer slide rail 841 of the tray transfer module 84 is arranged in parallel between the to - be - loaded gear tray rack 81 and the loaded gear tray rack 82; the tray clamping part 842 can be selected from pneumatic clamping jaws or electromagnetic adsorption devices; the tray 85 can be step - by - step lifted by the tray lifting power part 83 so that the current working tray 85 is always at the grasping height of the clamping part.

[0031] During the gear supply process, multiple trays 85 in the to - be - loaded gear tray rack 81 are gradually lifted to the clamping height by the tray lifting power part 83. The tray clamping part 842 moves along the transfer slide rail to the to - be - loaded rack to clamp the full - load tray 85, so that the tray 85 is fixed to ensure that the tray 85 does not displace when the gear grasping part 32 grasps the gear from the full - load tray 85. Subsequently, the tray clamping part 842 transfers the empty tray 85 above the loaded gear tray rack 82 and releases it; the tray lifting power part 83 of the loaded rack synchronously descends to receive the empty tray 85, forming a closed - loop circulation path for the tray 85; through the above technical solutions, the present invention realizes the automatic cyclic management of the gear tray 85, improves the continuity and efficiency of gear supply; the vertical stacking design of multiple trays 85 in the to - be - loaded gear tray rack 81, combined with the automatic lifting function of the tray lifting power part 83, reduces the need for frequent manual replenishment of materials; the design of the tray transfer module 84 makes the transfer process of the tray 85 between the to - be - loaded rack and the loaded rack more controllable and precise; the two independent tray lifting power parts 83 act on the to - be - loaded and loaded racks respectively, effectively preventing the possible inclination or jamming problems during the stacking process of the tray 85; in addition, the three gear feeding mechanisms 8 are all arranged inside the workbench 1 and are respectively located at the starting ends of the three gear transport lines 3, making more reasonable use of the space inside and on the upper surface of the workbench 1, which is beneficial to increasing the compactness of the equipment and reducing the floor area.

[0032] Furthermore, problems such as position offset, abnormal angle, or surface damage may occur to the gears in the tray 85 during the feeding and transportation processes. If not detected in time and grabbed by the gear gripping part 32 for installation, it will cause the gears to fail to mesh accurately during the subsequent assembly process, and even cause damage to the tooth parts, affecting the transmission performance and reliability of the actuator. For example, when the gears in the tray 85 are in an upright state or placed upside down and still grabbed, and are forcibly installed in subsequent steps, it will cause damage to the internal parts of the actuator. In response to this, the present invention can install the camera module 91 on the side or top of the transportation line track 31 so as to be able to capture the detailed profile of the gear tooth parts; the lighting module 92 can adopt a ring-shaped LED light source or a strip-shaped fill light; the three sets of recognition mechanisms respectively correspond to three transportation lines, and at least one set of camera module 91 and lighting module 92 are arranged at the end of each transportation line to form an independent detection unit. During use, the lighting module 92 turns on directional fill light to eliminate ambient light interference and enhance the reflective characteristics of the gear surface. The camera module 91 synchronously takes a top view image of the gear, and judges whether the plane tilt angle of the gear exceeds the threshold based on a specific algorithm; when it is detected that the central axis angle of the gear is abnormal and the proportion of the defective area of the tooth part is abnormal, the device skips this gear and does not grab it.

[0033] Through the above technical solutions, the present invention realizes real-time status monitoring of the gear feeding process; the lighting module 92 provides a stable light source, the camera module 91 captures high-quality images, and accurately identifies the position, angle, and integrity of the gears through image analysis; the three sets of recognition mechanisms cover all the gear transportation lines 3 to achieve comprehensive detection; thus, abnormal gears are timely discovered and prevented from entering the assembly link, avoiding assembly failures or tooth part damage caused by gear status problems; this active prevention mechanism improves the reliability and efficiency of the assembly process, reduces the downtime and material waste caused by gear problems, and thereby ensures the transmission performance and service life of the actuator.

[0034] Due to the coordinated cooperation of the above structures, Step 1 can be specifically implemented through the following sub-steps: Step 11: The tray clamping part 842 clamps the tray 85 from the gear rack 81 to be installed. Step 12: The lighting module 92 illuminates the gears on the tray 85; the camera module 91 identifies the status of the gears on the gear feeding mechanism 8. Step 13: The gear gripping part 32 grabs the gears with qualified status recognition from the tray 85, and places the gears along the transportation line track 31 to the gear transfer mechanism 7. Step 14: After all the gears in the gear rack 81 to be installed are grabbed, the tray clamping part 842 is transferred to the gear rack 82 with installed gears through the transfer slide rail 841, and the tray 85 is placed down.

[0035] Please continue to refer to Figure 3 、Figure 6 Among them, the gear transfer mechanism 7 includes a transfer platform 71, a transfer track 72 provided on the transfer platform 71, and a transfer jig 73 slidably provided on the transfer track 72; the transfer jig 73 has a gear angle adjustment hole 731; In step 2, the transfer jig 73 transfers the gear from one end of the transfer track 72 to the other end, and the gear angle adjustment hole 731 adjusts the angle of the central axis of the gear during the transfer process.

[0036] It can be understood that, as Figure 16 shown, when the gear transfer mechanism 7 transfers the gear at the end of the gear transport line 3 to the assembly station, the gear may be placed in a random angular posture, resulting in forced pressing during subsequent assembly with tooth misalignment, causing tooth damage or assembly failure; in addition, although the gears on the tray 85 have been screened by the gear state recognition mechanism 9 and some gears with large abnormal angles can be removed, there are still different degrees of angular deviations for the gears within the normal angle threshold range set by the gear state recognition mechanism 9, thus causing the same problem; in response to this, the transfer track 72 of the present invention extends along the length direction of the transfer platform 71, allowing the transfer jig 73 to reciprocate horizontally; the hole wall of the gear angle adjustment hole 731 forms a constraint with the outer contour of the gear, for example, an elliptical hole or a circular hole with a positioning protrusion is used, so that the gear can only be inserted at a preset angle; during the sliding process of the transfer jig 73 on the transfer track 72, the gear angle adjustment hole 731 always maintains a fixed angular direction, preventing the gear from undergoing secondary deflection during the transfer process; when the gear grasping portion 32 places the gear in the gear angle adjustment hole 731, the outer edge of the gear contacts the hole wall and is forced to adjust until the central axis of the gear aligns with the preset assembly angle; further, the depth of the gear angle adjustment hole 731 can be set to 1.2 - 1.5 times the thickness of the gear to limit the axial freedom of the gear in the hole; when the transfer jig 73 slides to the assembly station, the position of the gear angle adjustment hole 731 is coaxial with the pressing axis of the assembly mechanism, ensuring that the gear is clamped at the corrected angle.

[0037] Specifically, after the gear grasping portion 32 grasps the gear from the end of the gear transport line 3, it vertically lowers the gear into the gear angle adjustment hole 731 of the transfer jig 73; when the outer edge of the gear contacts the inner wall of the adjustment hole, due to the geometric constraint of the hole wall, the gear is forced to correct its own axis; through the angle correction mechanism, the pre - adjustment of the central axis of the gear is completed during the transfer stage, so that no additional angle correction steps are required in the subsequent assembly process, effectively improving the assembly efficiency and reducing the risk of damage.

[0038] Through the above technical solution, the present application realizes the automatic adjustment of the angle of the gear during the transfer process. Thus, the problem that the central axis of the gear is placed on the assembly station in an abnormal angular posture is avoided, and further, the risk of forced press-fitting of the tooth part caused by the abnormal angle of the gear is eliminated, effectively preventing the occurrence of tooth part damage or assembly failure.

[0039] Please continue to refer to Figure 2-5 , wherein the actuator conveying line 2 includes a conveying track 21, an assembly table 22 slidably arranged on the conveying track 21, and three lifting modules 23 sequentially arranged on the conveying track 21; the three lifting modules 23 are respectively arranged below the first station 211, the second station 212, and the third station 213; the actuator is fixed to the assembly table 22; In steps 4, 5, 6, and 7, when the assembly table 22 passes through the first station 211, the second station 212, and the third station 213 in sequence, it is sequentially lifted by the corresponding lifting module 23 to position the assembly table 22.

[0040] It can be understood that the actuator moves continuously on the actuator conveying line 2 and needs to go through multiple assembly stations. If the assembly table 22 cannot be accurately positioned and its posture adjusted at each station, it may cause the position deviation of the actuator during gear assembly, the misalignment between the gripper or the suction mechanism and the gear axis, and further lead to problems such as poor meshing of the gear teeth, uneven transmission of the assembly force, and abnormal noise of the actuator. In view of this, the present invention provides lifting modules 23 at the first station 211, the second station 212, and the third station respectively; the three lifting modules 23 can respectively adopt independent drive sources, such as servo motors or cylinders, and their installation positions are matched with the station coordinates through coordinate calibration; when the assembly table 22 passes through the first station 211, the second station 212, and the third station 213 in sequence, the assembly table 22 is lifted by the corresponding lifting module 23 at the station and accurately positioned.

[0041] Specifically, in steps 4, 5, 6, and 7, when the assembly table 22 slides along the conveying track 21 to the first station 211, the first lifting module 23 is controlled to lift, so that the assembly table 22 is separated from the conveying track 21 and positioned at a preset height. After the first-stage gear assembly is completed, the first lifting module 23 resets, and the assembly table 22 continues to move to the second station 212, where the second lifting module 23 performs the same lifting action to ensure that the posture of the actuator during the second-stage gear assembly is the same as the state after the first-stage assembly. After the second-stage gear assembly is completed, the second lifting module 23 resets, and the assembly table 22 continues to move to the third station 213, where the third lifting module 23 performs the same lifting action, thereby realizing the accurate positioning of the assembly table 22 at the three stations and providing a basis for the accurate installation of the three gears.

[0042] Through the above technical solution, the present invention realizes the precise positioning of the actuator during the multi-stage gear assembly process; by providing three independent lifting modules 23 on the conveying track 21 corresponding to three workstations, the assembly table 22 can be accurately lifted to a preset height at each assembly workstation; this segmented lifting method effectively eliminates the position deviation that may accumulate during the continuous conveying of the actuator, ensuring the accuracy of each gear assembly process; since the lifting height of each workstation can be independently controlled, it can be flexibly adjusted according to the assembly requirements of different levels of gears, improving the adaptability and accuracy of the assembly; in addition, through the precise docking of the lifting module 23 and the assembly table 22, the inclination or misalignment that may occur during the gear assembly process is avoided, thereby reducing the risk of damage to the gear teeth and improving the assembly quality and the operating reliability of the actuator.

[0043] Please continue to refer to Figure 9 , in some embodiments, the lifting module 23 includes a lifting power unit 231, a lifting plate 232 provided on the lifting power unit 231, and a plurality of positioning columns 233 provided on the lifting plate 232; the assembly table 22 includes an assembly plate 221 and an actuator fixing part 222 provided on the assembly plate 221; the assembly plate 221 has a plurality of positioning holes 2211; when the assembly plate 221 is lifted by the lifting plate 232, the plurality of positioning columns 233 are respectively inserted into the plurality of positioning holes 2211.

[0044] Specifically, the lifting power unit 231 can be driven by a cylinder or a servo motor, the lifting plate 232 is set as a rigid support surface in contact with the assembly plate 221, the number of positioning columns 233 can be two or four and are evenly distributed on the lifting plate 232, the positions of the positioning holes 2211 correspond one by one to the positioning columns 233, and the hole diameter is slightly larger than the diameter of the positioning columns 233 to ensure the adaptive adjustment allowing slight deviation during the insertion process; the contact surface between the lifting plate 232 and the assembly plate 221 can be provided with anti-slip patterns or an elastic buffer layer to avoid rigid impact; the end of the positioning column 233 can be designed as a conical guiding structure, for example, with a cone angle of 30 degrees, to facilitate the quick alignment of the positioning hole 2211 and the positioning column 233 during the initial insertion. In steps 4, 5, 6, and 7, when the assembly table 22 moves below the workstation, the lifting power unit 231 drives the lifting plate 232 to move upward, and the positioning columns 233 gradually insert into the positioning holes 2211 of the assembly plate 221; during this process, the conical guiding structure first contacts the edge of the positioning hole 2211, and forces the assembly plate 221 to adjust its position along the axis direction of the positioning column 233 until the positioning column 233 is completely inserted; after the assembly plate 221 is lifted by the lifting plate 232, the gap between the positioning column 233 and the positioning hole 2211 is eliminated, the horizontal degree of freedom is completely restricted, and the position of the actuator on the actuator fixing part 222 is forced to be calibrated to the preset coordinates.

[0045] Through the above technical solutions, the present application achieves precise positioning between the assembly table 22 and the lifting module 23; the cooperation between the positioning posts 233 and the positioning holes 2211 eliminates the possible position deviation of the assembly table 22 during the lifting process, ensuring that the actuator always remains at the preset precise position; this forced positioning mechanism effectively prevents the deviation of the actuator position during the gear assembly process, making the position of the gear installed in the actuator more precise, and further avoiding the problems of inaccurate gear tooth meshing or uneven assembly pressure; at the same time, the supporting effect of the positioning posts 233 on the assembly table 22 also enhances the stability of the assembly process, further improving the accuracy and reliability of the gear assembly.

[0046] Please continue to refer to Figure 2-6 and Figure 10 , wherein the first-stage gear assembly mechanism 4 includes a first-stage gantry 42, a first-stage transfer slide rail 43 provided on the first-stage gantry 42, a first-stage transverse movement module 44 slidably provided on the first-stage transfer slide rail 43, and a first-stage longitudinal movement module 45 slidably provided on the first-stage transverse movement module 44; the first-stage gear gripper 41 is provided on the first-stage longitudinal movement module 45; In step 4, after the first-stage gear gripper 41 grabs the first-stage gear, it moves above the actuator through the first-stage transverse movement module 44, and then the first-stage longitudinal movement module 45 fully assembles the first-stage gear into the actuator.

[0047] Please continue to refer to Figure 2-6 and Figure 11-12 , wherein the second-stage gear assembly mechanism 5 includes a second-stage gantry 52, a second-stage transfer slide rail 53 provided on the second-stage gantry 52, a second-stage transverse movement module 54 slidably provided on the second-stage transfer slide rail 53, and a second-stage longitudinal movement module 55 slidably provided on the second-stage transverse movement module 54; the second-stage gear gripper 51 is provided on the second-stage longitudinal movement module 55; In step 5, after the second-stage gear gripper 51 grabs the second-stage gear, it moves above the actuator through the second-stage transverse movement module 54, and then the second-stage longitudinal movement module 55 pre-assembles the second-stage gear into the actuator, and the tooth part of the second-stage gear is in a non-meshing state with the tooth part of the first-stage gear.

[0048] It can be understood that through the foregoing structural design, in step 4, when the actuator conveyor line 2 transports the assembly table 22 to the first station 211, the first-stage gear gripper 41 grabs the first-stage gear from the transfer jig 73, moves above the actuator through the first-stage transverse movement module 44, and then the first-stage longitudinal movement module 45 installs the first-stage gear into the actuator; in step 5, the operation of the second-stage gear assembly mechanism 5 is the same as that of the foregoing first-stage gear assembly mechanism 4, only with a difference in the pressing depth.

[0049] Please continue to refer to Figure 7-8 and Figure 13, wherein the third - stage gear assembly mechanism 6 includes a third - stage gantry 63, a third - stage transfer slide rail 64 arranged on the third - stage gantry 63, a third - stage transverse movement module 65 slidably arranged on the third - stage transfer slide rail 64, and a third - stage longitudinal movement module 66 arranged on the third - stage transverse movement module 65; the third - stage gear suction structure 61 includes a rotation part 611 and a suction part 612, and the rotation part 611 and the suction part 612 are arranged on the third - stage longitudinal movement module 66; In step 6, after the suction part 612 sucks the third - stage gear, it moves above the actuator through the third - stage transverse movement module 65, and then generates a combined action of pressing down and rotating through the third - stage longitudinal movement module 66 and the rotation part 611, so as to completely assemble the third - stage gear to the actuator.

[0050] Specifically, the third - stage gantry 63 adopts a rectangular frame structure, and its top cross - beam is installed with a third - stage transfer slide rail 64; the third - stage transverse movement module 65 is slidably connected to the slide rail through a slider, and its bottom is equipped with a ball - screw drive system driven by a servo motor to achieve closed - loop control of the lateral position; the third - stage longitudinal movement module 66 is installed on the side of the third - stage transverse movement module 65 through a vertically arranged linear module, and the inside of the module integrates a stepping motor and a synchronous - belt drive mechanism to drive the rotation part 611 and the suction part 612 to achieve longitudinal lifting movement; the rotation part 611 includes a rotation power part 6111 and a rotation transmission part 6112 arranged at the lower end of the rotation power part 6111, and the suction part 612 is arranged on the rotation transmission part 6112; the rotation power part 6111 can select a micro - reduction motor as the driving source, its output shaft is connected to the rotation transmission part 6112 through a coupling, and the end of the transmission part is provided with a vacuum - suction - type suction part 612; the rotation transmission part 6112 adopts a slender cylinder and hollow - shaft design, and a vacuum pipeline is arranged inside, so that the suction part 612 maintains a negative - pressure adsorption function during the rotation process.

[0051] Through the above technical solutions, the present invention realizes three - dimensional precise positioning and synchronous adjustment of the rotation angle of the gear in a narrow space; the combined movement trajectory of the third - stage transverse movement module 65 and the third - stage longitudinal movement module 66 covers the entire path of the third - stage gear from the transportation end to the assembly station, and the integrated design of the rotation part 611 and the suction part 612 enables the gear to adjust the tooth part angle in real - time during the pressing - down process, so that the tooth part of the third - stage gear can only be further pressed down when it meshes with the tooth part of the first - stage gear during the rotation process; using the vacuum - adsorption - type suction part 612 to replace the traditional clamping jaws avoids the spatial interference between the mechanical clamping mechanism and the assembled gear, and ensures the damage - free installation of the third - stage gear in a limited assembly space.

[0052] Please continue to refer to Figure 7-8 and Figure 14, wherein the secondary gear pressing structure 62 includes a mounting arm 622 disposed on the conveying track 21, an extended positioning portion 623 disposed on the mounting arm 622, and a secondary gear pressing portion 621 disposed at one end of the extended positioning portion 623; the secondary gear pressing portion 621 includes a push rod 6211 disposed on the extended positioning portion 623, and an elastic member 6212 disposed between the extended positioning portion 623 and the push rod 6211; Step 7 includes the following sub-steps: Step 71: The lifting module 23 lifts the actuator via the assembly table 22, so that the pre-assembled secondary gear moves upward; Step 72: The push rod 6211 is driven by the secondary gear to move upward, and the elastic member 6212 is compressed; Step 73: The primary gear is driven by the tertiary gear to rotate. When the tooth portion of the primary gear rotates to mesh with the tooth portion of the secondary gear, the elastic member 6212 rebounds, and the push rod 6211 pushes the secondary gear downward, so that the secondary gear is completely assembled to the actuator.

[0053] Specifically, through the settings of the mounting arm 622 and the extended positioning portion 623, the secondary gear pressing portion 621 can accurately extend from the conveying track 21 to the position of the pre-assembled secondary gear; when the assembly table 22 reaches the third station 213 and is lifted by the third lifting module 23, the assembly table 22 obtains precise positioning, and the pre-assembled secondary gear compresses the elastic member 6212 upward via the push rod 6211, so that an appropriate downward pressure is formed between the secondary gear and the primary gear. At the same time, since the tertiary gear drives the primary gear to rotate during assembly, when the tooth portion of the primary gear rotates to mesh with the tooth portion of the secondary gear, the elastic member 6212 resets, and the secondary gear is completely assembled by the downward pressure of the push rod 6211.

[0054] The above is only an illustration of the best embodiment of the present invention, but it should not be construed as a limitation of the claims. The present invention is not limited to the above embodiments, and its specific structure is allowed to vary. All changes made within the protection scope of the independent claims of the present invention are within the protection scope of the present invention.

Claims

1. An actuator multi-stage gear assembly process, characterized in that, It includes the following steps: Step 1, gear feeding: After the three gear transportation lines are preliminarily screened by the corresponding gear state recognition mechanisms, the three types of gears are respectively conveyed to the corresponding gear transfer mechanisms; Step 2, gear transfer: After the gear transfer mechanism adjusts the gear angle, the gear is transferred to the actuator conveying line; Step 3, actuator loading: The actuator conveying line includes a first station, a second station, and a third station arranged along the length and corresponding to the three gear transfer mechanisms respectively; the actuator is fed step by step forward on the actuator conveying line; Step 4, complete assembly of the first-stage gear: The first-stage gear assembly mechanism includes a first-stage gear gripper; when the actuator is conveyed to the first station, the first-stage gear gripper grabs the first-stage gear from one of the gear transfer mechanisms and completely assembles the first-stage gear to the actuator through a pressing-down action; Step 5, pre-assembly of the second-stage gear: The second-stage gear assembly mechanism includes a second-stage gear gripper; when the actuator is conveyed to the second station, the second-stage gear gripper grabs the second-stage gear from one of the gear transfer mechanisms and pre-assembles the second-stage gear to the actuator through a pressing-down action; Step 6, complete assembly of the third-stage gear: The third-stage gear assembly mechanism includes a third-stage gear suction structure; when the actuator is conveyed to the third station, the third-stage gear suction structure grabs the third-stage gear from one of the gear transfer mechanisms and performs a combined action of pressing down and rotating on the third-stage gear. When the tooth part of the third-stage gear rotates to mesh with the tooth part of the first-stage gear, the third-stage gear is pressed down and completely assembled to the actuator; the first-stage gear is driven to rotate by the third-stage gear; Step 7, complete assembly of the second-stage gear: The third-stage gear assembly mechanism includes a second-stage gear pressing structure; the second-stage gear pressing structure performs a pressing-down action on the second-stage gear. When the tooth part of the first-stage gear rotates to mesh with the tooth part of the second-stage gear, the second-stage gear is pressed down and completely assembled to the actuator.

2. The actuator multi-stage gear assembly process according to claim 1, characterized in that: It includes an actuator multi-stage gear assembly device. The actuator multi-stage gear assembly device includes a workbench. The actuator conveying line is arranged along the length direction of the upper end surface of the workbench. The three gear transportation lines for the three types of gears are respectively arranged along the width direction of the upper end surface of the workbench. The first-stage gear assembly mechanism, the second-stage gear assembly mechanism, and the third-stage gear assembly mechanism are arranged in sequence along the length direction of the actuator conveying line, and the actuator conveying line is located at the end of the three gear transportation lines; It further includes three gear feeding mechanisms arranged in the workbench.

3. The actuator multi-stage gear assembly process according to claim 2, characterized in that: The gear transportation line includes a transportation line track arranged along the width direction of the upper end surface of the workbench and a gear gripping part moving along the transportation line track; The gear feeding mechanism includes a to-be-loaded gear rack, a loaded gear rack, two tray lifting power units respectively arranged on the to-be-loaded gear rack and the loaded gear rack, a tray transfer module arranged on the upper end surface of the workbench, and a plurality of trays; the tray transfer module includes a transfer slide rail and a tray clamping part slidably arranged on the transfer slide rail; the plurality of trays loaded with gears are arranged in the to-be-loaded gear rack in sequence along the height direction of the to-be-loaded gear rack. The gear state recognition mechanism includes a camera module arranged on the transportation line track and a lighting module arranged on the upper end surface of the workbench.

4. The actuator multi-stage gear assembly process according to claim 3, characterized in that Step 1 includes the following sub-steps: Step 11: The tray clamping part clamps the tray from the to-be-loaded gear rack. Step 12: The lighting module illuminates the gears on the tray; the camera module recognizes the states of the gears on the gear feeding mechanism. Step 13: The gear gripping part grips the gears with qualified state recognition from the tray, and transports the gears along the transportation line track to the gear transfer mechanism and puts down the gears. Step 14: After all the gears in the to-be-loaded gear rack are gripped, the tray clamping part is transferred to the loaded gear rack through the transfer slide rail and puts down the tray.

5. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The gear transfer mechanism includes a transfer platform, a transfer track arranged on the transfer platform, and a transfer fixture slidably arranged on the transfer track; the transfer fixture has a gear angle adjustment hole. In Step 2, the transfer fixture transports the gear from one end of the transfer track to the other end, and the gear angle adjustment hole adjusts the angle of the central axis of the gear during the transfer process.

6. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The actuator conveying line includes a conveying track, an assembly table slidably arranged on the conveying track, and three lifting modules arranged in sequence on the conveying track; the three lifting modules are respectively arranged below the first station, the second station, and the third station; the actuator is fixed on the assembly table. In Steps 4, 5, 6, and 7, when the assembly table passes through the first station, the second station, and the third station in sequence, it is lifted by the corresponding lifting module in sequence to position the assembly table.

7. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The first-stage gear assembly mechanism includes a first-stage gantry, a first-stage transfer slide rail arranged on the first-stage gantry, a first-stage transverse movement module slidably arranged on the first-stage transfer slide rail, and a first-stage longitudinal movement module slidably arranged on the first-stage transverse movement module; the first-stage gear gripper is arranged on the first-stage longitudinal movement module. In Step 4, after the first-stage gear gripper grips the first-stage gear, it moves above the actuator through the first-stage transverse movement module, and then completely assembles the first-stage gear to the actuator through the first-stage longitudinal movement module.

8. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The second-stage gear assembly mechanism includes a second-stage gantry, a second-stage transfer slide rail arranged on the second-stage gantry, a second-stage transverse movement module slidably arranged on the second-stage transfer slide rail, and a second-stage longitudinal movement module slidably arranged on the second-stage transverse movement module. The second-stage gear gripper is arranged on the second-stage longitudinal movement module. In step 5, after the secondary gear gripper grabs the secondary gear, it is moved above the actuator by the secondary transverse movement module, and then the secondary gear is pre-assembled to the actuator by the secondary longitudinal movement module, and the tooth parts of the secondary gear and the primary gear are in a non-meshing state.

9. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The tertiary gear assembly mechanism includes a tertiary gantry, a tertiary transfer slide rail provided on the tertiary gantry, a tertiary transverse movement module slidably provided on the tertiary transfer slide rail, and a tertiary longitudinal movement module provided on the tertiary transverse movement module; the tertiary gear suction structure includes a rotating part and a suction part, and the rotating part and the suction part are provided on the tertiary longitudinal movement module; In step 6, after the suction part sucks the tertiary gear, it is moved above the actuator by the tertiary transverse movement module, and then a combined action of pressing down and rotating is generated by the tertiary longitudinal movement module and the rotating part, so as to completely assemble the tertiary gear to the actuator.

10. The actuator multi-stage gear assembly process according to claim 6, characterized in that: The secondary gear press-fitting structure includes a mounting arm provided on the conveying track, an extended positioning part provided on the mounting arm, and a secondary gear pressing part provided at one end of the extended positioning part; The secondary gear pressing part includes a push rod provided on the extended positioning part, and an elastic member provided between the extended positioning part and the push rod; Step 7 includes the following sub-steps: Step 71: The lifting module lifts the actuator through the assembly table, so that the pre-assembled secondary gear moves upward; Step 72: The push rod is driven by the secondary gear to move upward, and the elastic member is compressed; Step 73: The primary gear is driven to rotate by the tertiary gear. When the tooth part of the primary gear rotates to mesh with the tooth part of the secondary gear, the elastic member rebounds, and the push rod pushes the secondary gear downward, so that the secondary gear is completely assembled to the actuator.

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