A kind of actuator multi-stage gear assembly process

Abstract

The present invention proposes an actuator multi-stage gear assembly process. First, it studies how to break through the bottleneck of existing assembly processes in terms of space constraints and multi-stage coordination. The traditional linear press-fitting mode leads to insufficient space for subsequent assembly after the first-stage gear is assembled. The present invention considers changing the second-stage gear to pre-assembly to retain adjustment margin, and at the same time develops a rotary pressing mechanism in the third-stage gear assembly stage to solve the deep cavity assembly problem; for gear meshing angle control, the present invention introduces a dynamic rotation adjustment mechanism to match the tooth meshing angle in real time during the press-fitting process; to address the problem of low efficiency of multi-device coordination, the present invention explores an orthogonal layout of the conveyor line structure, and realizes multi-station integration through the spatial intersection of the actuator conveyor line and the gear conveyor line. The three-stage assembly mechanism adopts a composite function design, which synchronously triggers the second-stage final press-fitting when the third-stage assembly is completed, thereby realizing the timing coupling of multi-stage actions.

Description

Technical Field

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

[0002] Actuators are key power transmission and control components in automotive air outlet systems. LIN actuators are highly regarded for their miniaturization, lightweight, long life, low noise, high EMC performance, and low torque. Compared with general-purpose actuators in foreign automotive air-conditioning systems, LIN actuators utilize a micro-motor speed self-adjustment model, high-precision delay control technology, sinusoidal subdivision drive, high subdivision number and large Flash domestic chip, and adaptive current chopping technology to reduce the noise of the entire actuator and ensure smoother operation.

[0003] Multi-stage gears are key transmission components in actuators, which directly affect the output torque and accuracy of the actuator. Precise and lossless assembly of multi-stage gears is a key factor affecting the noise and smooth operation of the actuator. However, the existing multi-stage gear assembly process of actuators still has the following obvious defects:

[0004] (1) Since the internal space of the actuator is relatively compact, it is difficult for the gripping claws that grab the gear material to extend into the internal space of the actuator, making it difficult to install the multi-stage gear in place;

[0005] (2) The transmission is completed by the mutual meshing of the teeth between the multi-stage gears. When the first stage gear is installed, if the two gears are at an abnormal installation angle and forced to be installed, or the teeth of the two gears are in a non-meshing state and forced to be installed, the teeth of the two gears will be damaged, resulting in abnormal noise, transmission failure and other problems during the operation of the actuator. Summary of the Invention

[0006] The problem to be solved by the present invention is to provide an actuator multi-stage gear assembly process which is convenient for installing the multi-stage gear in place and has less damage to the gear during installation.

[0007] The technical solution adopted by the present invention to solve the above problems is: an actuator multi-stage gear assembly process, comprising the following steps:

[0008] Step 1, gear feeding: After the three gear transport lines are preliminarily screened by the corresponding gear state identification mechanism, the three types of gears are respectively transported to the corresponding gear transfer mechanism;

[0009] Step 2, gear transfer: the gear transfer mechanism adjusts the gear angle and then transfers the gear to the actuator conveyor line;

[0010] Step 3, actuator loading: the actuator conveyor 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 forward in steps on the actuator conveyor line;

[0011] Step 4: Completely assemble the first-stage gear: The first-stage gear assembly mechanism includes a first-stage gear clamp; when the actuator is transported to the first station, the first-stage gear clamp grabs the first-stage gear from one of the gear transfer mechanisms and completely assembles the first-stage gear to the actuator by pressing down;

[0012] Step 5: Pre-assembly of the secondary gear: The secondary gear assembly mechanism includes a secondary gear clamp; when the actuator is transported to the second station, the secondary gear clamp grabs the secondary gear from one of the gear transfer mechanisms and pre-assembles the secondary gear to the actuator by pressing down;

[0013] Step 6: Completely assemble the three-stage gear: The three-stage gear assembly mechanism includes a three-stage gear suction structure. When the actuator is transported to the third station, the three-stage gear suction structure grabs the three-stage gear from one of the gear transfer mechanisms and performs a compound action of pressing down and rotating the three-stage gear. When the teeth of the three-stage gear rotate to mesh with the teeth of the first-stage gear, the three-stage gear is pressed down and completely assembled to the actuator. The first-stage gear is driven to rotate by the three-stage gear.

[0014] Step 7. Complete assembly of the secondary gear: The tertiary gear assembly mechanism includes a secondary gear press-fitting structure; the secondary gear press-fitting structure presses down the secondary gear. When the teeth of the primary gear rotate to engage with the teeth of the secondary gear, the secondary gear is pressed down and completely assembled to the actuator.

[0015] Compared with the prior art, the present invention transports three types of gear materials to the corresponding gear transfer mechanisms through the three gear transport lines in step 1, and performs preliminary screening on the gears through the gear state recognition mechanism during the transportation process, so as to screen out gears with poor initial conditions, such as gears placed sideways, reversely placed or damaged, thereby preventing these gears from entering the next step, and also preventing these gears in poor condition from being installed in the actuator and damaging other parts or producing abnormal noises; after the initial state of the gear is preliminarily screened, the gear transfer mechanism in step 2 adjusts the gear angle based on the transfer gear so that the central axis of the gear is parallel to the central axis of the mounting hole. If the two If there is an abnormal angle on the central axis of the actuator, the gear may be tilted into the actuator at an abnormal angle, resulting in improper installation, and the tilted installation may damage the mounting hole of the actuator and the adjacent gears, causing abnormal noise; through step 3, the actuator with the gear to be installed is transported along the first station, the second station and the third station of the actuator conveyor line, so that it passes through the three gear transfer mechanisms respectively and the three gears are assembled; the first-level gear clamp in step 4 grabs the first-level gear. At this time, since the other gears have not been assembled, there is enough space inside the actuator for the first-level gear clamp to press down, so the first-level gear is completely assembled in step 4; through step 5, the second-level gear The clamping claw grabs the secondary gear. At this time, since the primary gear has been assembled, the space inside the actuator is not enough for the secondary gear clamping claw to fully press down, and when the teeth of the primary gear and the secondary gear are not meshed, fully pressing down may damage the teeth of both. Therefore, the secondary gear is pre-assembled in step 5, that is, the secondary gear is pressed down to the extent that it is just not meshed with the primary gear; the gear is sucked in by the tertiary gear suction structure in step 6. At this time, since the primary and secondary gears are already in the actuator, the space inside the actuator is further reduced. Therefore, a smaller suction structure is used instead of the clamping claw structure to facilitate reaching into the actuator and fully installing the tertiary gear. The gear suction structure can rotate synchronously when pressed down, so that the third-stage gear has a self-positioning mechanism. When the teeth of the third-stage gear are meshed with the teeth of the first-stage gear, the third-stage gear will be pressed down and completely assembled, thereby avoiding damage to the teeth of the third-stage gear when it is installed. While the third-stage gear is pressed down, it can also drive the first-stage gear to rotate synchronously; the second-stage gear is pressed down by the second-stage gear pressing structure in step 7, so that the second-stage gear also has a self-positioning mechanism. When the teeth of the first-stage gear rotate to mesh with the teeth of the second-stage gear, the second-stage gear will be pressed down by the second-stage gear pressing structure and completely assembled, thereby avoiding damage to the teeth of the second-stage gear when it is installed.

[0016] According to one 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 conveyor line is arranged along the length direction of the upper end face of the workbench, the three gear conveyor lines of the three types of gears are respectively arranged along the width direction of the upper end face 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 conveyor line, and the actuator conveyor line is located at the end of the three gear conveyor lines; it further includes three gear feeding mechanisms arranged in the workbench.

[0017] According to one embodiment of the present invention, the gear transport line comprises a transport line track arranged along the width direction of the upper end surface of the workbench and a gear grabbing portion moving along the transport line track;

[0018] The gear feeding mechanism includes a gear rack to be loaded, a loaded gear rack, two tray lifting power parts respectively arranged on the gear rack to be loaded and the loaded gear rack, a tray transfer module and a plurality of trays arranged on the upper end surface of the workbench; 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 equipped with gears are arranged in sequence in the gear rack to be loaded along the height direction of the gear rack to be loaded;

[0019] The gear state recognition mechanism includes a camera module arranged on the transport line track and a lighting module arranged on the end surface of the workbench.

[0020] According to one embodiment of the present invention, step 1 includes the following sub-steps:

[0021] Step 11: The tray clamping portion clamps the tray from the gear rack to be installed;

[0022] Step 12: The lighting module illuminates the gears on the material tray; the camera module identifies the status of the gears on the gear feeding mechanism;

[0023] Step 13: The gear grabbing unit identifies qualified gears from the material tray grabbing state and places the gears along the transport line track to the gear transfer mechanism;

[0024] Step 14: After the gears in the gear rack to be loaded are grabbed, the tray clamping part is transferred to the loaded gear rack via the transfer slide rail, and the tray is put down.

[0025] According to one embodiment of the present invention, the gear transfer mechanism includes a transfer platform, a transfer track provided on the transfer platform, and a transfer jig slidably provided on the transfer track; the transfer jig has a gear angle adjustment hole;

[0026] In step 2, the transfer jig 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.

[0027] According to one embodiment of the present invention, the actuator conveying line includes a conveying track, an assembly table slidably arranged on the conveying track, and three lifting modules sequentially arranged 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 to the assembly table;

[0028] In step 4, step 5, step 6 and step 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 modules in sequence to position the assembly table.

[0029] According to one embodiment of the present invention, the first-level gear assembly mechanism includes a first-level gantry, a first-level transfer slide rail provided on the first-level gantry, a first-level transverse movement module slidably provided on the first-level transfer slide rail, and a first-level longitudinal movement module slidably provided on the first-level transverse movement module; the first-level gear clamp is provided on the first-level longitudinal movement module;

[0030] In step 4, after the first-stage gear gripper grabs the first-stage gear, it is moved to the top of 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.

[0031] According to one embodiment of the present invention, the secondary gear assembly mechanism includes a secondary gantry, a secondary transfer slide rail provided on the secondary gantry, a secondary transverse movement module slidably provided on the secondary transfer slide rail, and a secondary longitudinal movement module slidably provided on the secondary transverse movement module; the secondary gear clamp is provided on the secondary longitudinal movement module;

[0032] In step 5, after the secondary gear clamp grasps the secondary gear, it is moved to the top of the actuator through the secondary lateral movement module, and then the secondary gear is pre-assembled to the actuator through the secondary longitudinal movement module, and the teeth of the secondary gear and the teeth of the primary gear are in a non-meshing state.

[0033] According to one embodiment of the present invention, the three-stage gear assembly mechanism includes a three-stage gantry, a three-stage transfer slide rail provided on the three-stage gantry, a three-stage transverse movement module slidably provided on the three-stage transfer slide rail, and a three-stage longitudinal movement module provided on the three-stage transverse movement module; the three-stage gear suction structure includes a rotating part and a suction part, and the rotating part and the suction part are provided on the three-stage longitudinal movement module;

[0034] In step 6, after the suction part sucks the three-stage gear, it is moved to the top of the actuator through the three-stage transverse movement module, and then the three-stage longitudinal movement module and the rotating part produce a composite action of pressing down and rotating to completely assemble the three-stage gear to the actuator.

[0035] According to one embodiment of the present invention, the secondary gear pressing structure includes a mounting arm provided on the conveying track, an extended positioning portion provided on the mounting arm, and a secondary gear pressing portion provided at one end of the extended positioning portion; the secondary gear pressing portion includes a push rod provided on the extended positioning portion, and an elastic member provided between the extended positioning portion and the push rod;

[0036] Step 7 includes the following sub-steps:

[0037] Step 71: The lifting module lifts the actuator via the assembly platform to move the pre-assembled secondary gear upward;

[0038] Step 72: The push rod is driven upward by the secondary gear, and the elastic member is compressed;

[0039] Step 73: The primary gear is driven to rotate by the tertiary gear. When the teeth of the primary gear rotate to engage with the teeth 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A flowchart of an actuator multi-stage gear assembly process according to a preferred embodiment of the present invention;

[0041] Figure 2 A schematic perspective diagram of a device used in an assembly process for a multi-stage gear of an actuator according to a preferred embodiment of the present invention from a side view;

[0042] Figure 3 Schematic top view of equipment used in an assembly process for a multi-stage gear of an actuator according to a preferred embodiment of the present invention;

[0043] Figure 4 A schematic front view of an apparatus for assembling a multi-stage gear of an actuator according to a preferred embodiment of the present invention;

[0044] Figure 5 A perspective schematic diagram from another side of the apparatus used in the assembly process of a multi-stage gear of an actuator according to a preferred embodiment of the present invention;

[0045] Figure 6 Schematic diagram of the actuator at three working positions according to a preferred embodiment of the present invention;

[0046] Figure 7This is a schematic diagram of a three-stage gear assembly mechanism before operation according to a preferred embodiment of the present invention;

[0047] Figure 8 A schematic diagram of a three-stage gear assembly mechanism after operation according to a preferred embodiment of the present invention;

[0048] Figure 9 is a cross-sectional schematic diagram of an actuator conveying line according to a preferred embodiment of the present invention;

[0049] Figure 10 This is a three-dimensional schematic diagram of the fully assembled state of the first-stage gear in step 4;

[0050] Figure 11 This is a three-dimensional schematic diagram of the pre-assembly state of the secondary gear in step 5;

[0051] Figure 12 A schematic cross-sectional view of the pre-assembled state of the secondary gear in step 5;

[0052] Figure 13 This is a three-dimensional schematic diagram of the fully assembled state of the three-stage gear in step 6;

[0053] Figure 14 This is a three-dimensional schematic diagram of the fully assembled state of the secondary gear in step 7;

[0054] Figure 15 This is a three-dimensional schematic diagram of the teeth of two gears in a non-meshing state during the assembly of a multi-stage gear;

[0055] Figure 16 This is a side view schematic diagram showing the center axes of two gears at an abnormal angle during the multi-stage gear assembly process.

[0056] In the picture:

[0057] Workbench 1;

[0058] Actuator conveyor line 2; conveyor 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;

[0059] Gear transport line 3; transport line track 31, gear grabbing part 32;

[0060] A first-level gear assembly mechanism 4; a first-level gear clamp 41, a first-level gantry 42, a first-level transfer slide 43, a first-level transverse movement module 44, and a first-level longitudinal movement module 45;

[0061] Secondary gear assembly mechanism 5; secondary gear clamp 51, secondary gantry 52, secondary transfer slide 53, secondary transverse movement module 54, secondary longitudinal movement module 55;

[0062] Three-stage gear assembly mechanism 6; three-stage gear suction structure 61, two-stage gear pressing structure 62, three-stage gantry 63, three-stage transfer slide 64, three-stage transverse movement module 65, three-stage longitudinal movement module 66; rotating portion 611, suction portion 612; two-stage gear pressing portion 621, mounting arm 622, extended positioning portion 623; rotating power portion 6111, rotating transmission portion 6112; push rod 6211, elastic member 6212;

[0063] Gear transfer mechanism 7; transfer platform 71, transfer track 72, transfer fixture 73; gear angle adjustment hole 731;

[0064] Gear feeding mechanism 8; gear rack to be loaded 81, loaded gear rack 82, tray lifting power unit 83, tray transfer module 84, tray 85; transfer slide rail 841, tray clamping unit 842;

[0065] Gear state recognition mechanism 9; camera module 91, lighting module 92. DETAILED DESCRIPTION

[0066] Before describing in detail any embodiment of the present invention, it should be understood that the present invention is not limited in its application to the construction and arrangement details of the components set forth in the following description or illustrated in the following figures. The present invention is capable of other embodiments and can be practiced or carried out in various ways. In addition, it should be understood that the words and terms used herein are for descriptive purposes and should not be considered restrictive. The use of "including" or "having" and their variations herein is intended to cover the items and their equivalents set forth below and additional items. Unless otherwise specified or limited, the terms "mounted", "connected", "supported" and "coupled" and their variations are used broadly and cover direct mounting and indirect mounting, connection, support and coupling. In addition, "connected" and "coupled" are not limited to physical or mechanical connections or couplings.

[0067] Furthermore, on the first hand, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above terms cannot be understood as limitations on the present invention; on the second hand, the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" cannot be understood as a limitation on the quantity.

[0068] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

[0069] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0070] In the traditional actuator multi-stage gear assembly process, there are systematic defects in gear installation path planning and meshing angle control. The multi-stage gear assembly operation is limited by the size constraints of the actuator's internal cavity. The mechanical gripper is difficult to effectively reach the deep cavity installation position, resulting in insufficient or skewed gear press stroke, resulting in incomplete assembly; when assembling multi-stage gears, due to the teeth being in such a position, the gears are not properly assembled. Figure 15 The non-meshing state shown may be due to the existence of the gear axis. Figure 16 The abnormal angle shown in the figure causes rigid collision between teeth during press-fitting, resulting in plastic deformation or microcracks in the tooth shape; the multi-stage assembly process needs to be completed in stages by independent equipment, and repeated positioning errors accumulate during gear transportation, resulting in inaccurate assembly datums. The complexity of equipment collaborative control increases exponentially with 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 average trouble-free working time of the actuator.

[0071] When faced with the above problems, the traditional linear press-fitting mode leads to insufficient space for subsequent assembly after the first-stage gear is assembled. The present invention considers changing the second-stage gear to pre-assembly to retain adjustment margin, and at the same time develops a rotary pressing mechanism in the third-stage gear assembly stage to solve the deep cavity assembly problem; for gear meshing angle control, the present invention introduces a dynamic rotation adjustment mechanism to match the tooth meshing angle in real time during the press-fitting process; to address the problem of low efficiency of multi-device collaboration, the present invention explores an orthogonal layout of the conveyor line structure, and realizes multi-station integration through the spatial intersection of the actuator conveyor line 2 and the gear conveyor line 3. The three-stage assembly mechanism adopts a composite functional design, which synchronously triggers the second-stage final press-fitting when the third-stage assembly is completed, thereby realizing the timing coupling of multi-stage actions.

[0072] For this, see Figure 1-14 The illustrated embodiment of an actuator multi-stage gear assembly process includes the following steps:

[0073] Step 1, gear feeding: the three gear transport lines 3 are preliminarily screened by the corresponding gear state identification mechanism 9, and then the three types of gears are respectively transported to the corresponding gear transfer mechanism 7;

[0074] Step 2, gear transfer: the gear transfer mechanism 7 adjusts the gear angle and transfers the gear to the actuator conveyor line 2;

[0075] Step 3: Loading the actuator: 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 forward in steps on the actuator conveyor line 2;

[0076] Step 4: Completely assemble the first-stage gear: The first-stage gear assembly mechanism 4 includes a first-stage gear clamp 41. When the actuator is transported to the first station 211, the first-stage gear clamp 41 grabs the first-stage gear from one of the gear transfer mechanisms 7 and completely assembles the first-stage gear to the actuator by pressing down.

[0077] Step 5: Pre-assembly of the secondary gear: The secondary gear assembly mechanism 5 includes a secondary gear clamp 51. When the actuator is transported to the second station 212, the secondary gear clamp 51 grabs the secondary gear from one of the gear transfer mechanisms 7 and pre-assembles the secondary gear to the actuator by pressing down.

[0078] Step 6: Completely assemble the three-stage gear: The three-stage gear assembly mechanism 6 includes a three-stage gear suction structure 61. When the actuator is transported to the third workstation 213, the three-stage gear suction structure 61 grabs the three-stage gear from one of the gear transfer mechanisms 7 and performs a combined action of pressing down and rotating the three-stage gear. When the teeth of the three-stage gear rotate to mesh with the teeth of the first-stage gear, the three-stage gear is pressed down and completely assembled to the actuator. The first-stage gear is driven to rotate by the three-stage gear.

[0079] Step 7, the secondary gear is completely assembled: the tertiary gear assembly mechanism 6 includes a secondary gear pressing structure 62; the secondary gear pressing structure 62 presses down the secondary gear. When the teeth of the primary gear rotate to engage with the teeth of the secondary gear, the secondary gear is pressed down and completely assembled to the actuator.

[0080] In actual use, the present invention transports the three types of gear materials to the corresponding gear transfer mechanisms 7 through the three gear transport lines 3 of step 1 respectively. During the transportation process, the gears are preliminarily screened by the gear state identification mechanism 9 to screen out gears with poor initial conditions, such as gears placed sideways, reversely placed or incomplete, thereby preventing these gears from entering the next step and also preventing these gears in poor condition from being installed in the actuator and damaging other parts or producing abnormal noises; after the initial state of the gear is preliminarily screened, the gear transfer mechanism 7 of step 2 adjusts the gear angle based on the transfer gear so that the central axis of the gear is parallel to the central axis of the mounting hole. If the central axes of the two are parallel, the gears are preliminarily screened. If there is an abnormal angle, the gear may be tilted into the actuator at an abnormal angle, resulting in a problem of improper installation, and the tilted installation may damage the installation hole of the actuator and the adjacent gears, causing abnormal noise; through step 3, the actuator with the gear to be installed is transported along the first station 211, the second station 212 and the third station 213 of the actuator conveyor line 2, so that it passes through the three gear transfer mechanisms 7 respectively and the three gears are assembled; the first-level gear is grabbed by the first-level gear clamp 41 in step 4. At this time, since the other gears have not been assembled, there is enough space inside the actuator for the first-level gear clamp 41 to press down, so that the first-level gear is completely assembled in step 4; through the second stage of step 5 The first-stage gear clamp 51 grabs the second-stage gear. At this time, since the first-stage gear has been assembled, the space inside the actuator is not enough to allow the second-stage gear clamp 51 to be fully pressed down, and when the teeth of the first-stage gear and the teeth of the second-stage gear are not meshed, fully pressing down may damage the teeth of both. Therefore, the second-stage gear is pre-assembled in step 5, that is, the second-stage gear is pressed down to the extent that it is just not meshed with the first-stage gear; the gear is sucked in by the third-stage gear suction structure 61 in step 6. At this time, since the first and second-stage gears are already in the actuator, the space inside the actuator is further reduced. Therefore, a smaller suction structure is used instead of the clamping structure to facilitate reaching into the actuator and fully installing the third-stage gear. The stage gear suction structure 61 can rotate synchronously when pressed down, so that the third-stage gear has a self-positioning mechanism. When the teeth of the third-stage gear are engaged with the teeth of the first-stage gear, the third-stage gear will be pressed down and completely assembled, thereby avoiding damage to the teeth of the third-stage gear when installing. While the third-stage gear is pressed down, it can also drive the first-stage gear to rotate synchronously; the second-stage gear is pressed down by the second-stage gear pressing structure 62 in step 7, so that the second-stage gear also has a self-positioning mechanism. When the teeth of the first-stage gear rotate to engage with the teeth of the second-stage gear, the second-stage gear will be pressed down and completely assembled by the second-stage gear pressing structure 62, thereby avoiding damage to the teeth of the second-stage gear when installing.

[0081] Please continue reading Figure 2-5, which includes an actuator multi-stage gear assembly device, the actuator multi-stage gear assembly device includes a workbench 1, an actuator conveyor line 2 is arranged along the length direction of the upper end surface of the workbench 1, three gear conveyor lines 3 of the three types of gears are respectively arranged along the width direction of the upper end surface of the workbench 1, a first-stage gear assembly mechanism 4, a second-stage gear assembly mechanism 5 and a 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 conveyor lines 3; it further includes three gear feeding mechanisms 8 arranged in the workbench 1.

[0082] Specifically, the workbench 1 can be realized by combining a metal frame and a table panel, providing an installation basis for the actuator conveyor line 2, the gear conveyor line 3, the first-level gear assembly mechanism 4, the second-level gear assembly mechanism 5 and the third-level gear assembly mechanism 6, and three gear feeding mechanisms 8; the actuator conveyor line 2 refers to a conveying system arranged along the length direction of the workbench 1, which is used to convey the actuator to be assembled to the first-level, second-level and third-level gear assembly stations in sequence; the three gear conveyor lines 3 refer to independent material conveying channels arranged along the width direction of the workbench 1, which can be specifically realized by using a conveyor belt with a guide track in combination with a grabbing robot arm to transport three different specifications of gears to the corresponding assembly stations respectively; the first-level gear clamp 41 refers to a tool for grabbing the first-level gear The end effector can be implemented by a pneumatic gripper or an electric clamp, which presses the first-stage gear into a predetermined position inside the actuator through a vertical downward pressure action; the second-stage gear gripper 51 refers to the end effector for grabbing the second-stage gear, which can be implemented by an adaptive gripper with a pressure sensor, which pre-assembles the second-stage gear to a reserved gap position in the actuator through a downward pressure action; the third-stage gear suction structure 61 refers to a vacuum adsorption device for grabbing the third-stage gear, which can be implemented by a vacuum suction cup driven by a rotary motor, which adjusts the gear meshing angle through a composite motion of rotation and downward pressure; the second-stage gear pressing structure 62 refers to an execution unit for completing the final pressing of the second-stage gear, which ensures that the gear teeth are engaged in place through elastic buffering.

[0083] Please continue reading Figure 2-5 , wherein 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 grabbing part 32 moving along the transport line track 31; the gear feeding mechanism 8 includes a gear rack to be loaded 81, a loaded gear rack 82, two material tray lifting power parts 83 respectively arranged on the gear rack to be loaded 81 and the loaded gear rack 82, a material tray transfer module 84 arranged on the upper end surface of the workbench 1 and multiple material trays 85; the material tray transfer module 84 includes a transfer slide 841 and a material tray clamping part 842 slidably arranged on the transfer slide 841; multiple material trays 85 equipped with gears are arranged in sequence in the gear rack to be loaded 81 along the height direction of the gear rack to be loaded 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.

[0084] Specifically, the gear feeding mechanism 8 continuously supplies 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 grabbing part 32 moves along the width direction of the transport line track 31 to the material picking position, and completes the grabbing of a single gear through the opening and closing action of the clamping claws, and then moves along the track to the corresponding gear transfer mechanism 7 at the end; the entire process is achieved through three independently operated feeding-transport-transfer channels to achieve parallel operation, and the gear types of each channel do not interfere with each other; the gear grabbing part 32 maintains horizontal movement during transportation to avoid gear displacement due to vertical shaking.

[0085] Furthermore, the gear rack to be loaded 81 and the loaded gear rack 82 are configured as storage units for independently vertically stacking trays 85, and each tray lifting power unit 83 may include a screw lifting mechanism or a hydraulic jacking device; the transfer slide rail 841 of the tray transfer module 84 is arranged in parallel between the gear rack to be loaded 81 and the loaded gear rack 82; the tray clamping part 842 can optionally use a pneumatic clamp or an electromagnetic adsorption device; the tray 85 can be lifted step by step by the tray lifting power unit 83, so that the current working tray 85 is always at a height that can be grasped by the clamping part.

[0086] The gear feeding process is carried out by the plurality of material trays 85 in the gear material rack 81 to be loaded being lifted step by step to the clamping height by the material tray lifting power unit 83, and the material tray clamping unit 842 moves along the transfer slide rail to the material rack to be loaded to clamp the fully loaded material tray 85, so that the material tray 85 is fixed to ensure that the material tray 85 does not move when the gear grabbing unit 32 grabs the gear from the fully loaded material tray 85, and then the material tray clamping unit 842 transfers the empty material tray 85 to the top of the loaded gear material rack 82 for release; the material tray lifting power unit 83 of the loaded rack synchronously descends to receive the empty material tray 85, forming a closed-loop circulation path for the material tray 85; through the above technical solution, the present invention realizes the automatic circulation management of the gear material tray 85, and improves the continuity and efficiency of gear feeding. ; The vertical stacking design of multiple material trays 85 in the gear material rack 81 to be loaded, combined with the automatic lifting function of the material tray lifting power unit 83, reduces the need for frequent manual replenishment; the design of the material tray transfer module 84 makes the transfer process of the material tray 85 between the rack to be loaded and the loaded rack more controllable and precise; two independent material tray lifting power units 83 act on the rack to be loaded and the loaded rack respectively, effectively preventing the tilting or jamming problems that may occur during the stacking of the material trays 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, which makes more reasonable use of the space inside the workbench 1 and the upper end surface, which is conducive to increasing the compactness of the equipment and reducing the floor space.

[0087] Furthermore, the gears in the tray 85 may have problems such as position displacement, abnormal angle or surface damage during the feeding and transportation process. If they are not discovered in time and are grabbed by the gear grabbing part 32 for installation, the gears will not be able to engage accurately during the subsequent assembly process, and even damage the teeth will be caused, affecting the transmission performance and reliability of the actuator; for example, when the gears in the tray 85 are in an upright state or a reverse position and are still grabbed, and are forcibly installed in subsequent steps, it will cause damage to the internal parts of the actuator; in this regard, the present invention can install the camera module 91 on the side or top of the transport line track 31 so as to capture the contour details of the gear teeth; the lighting module 92 can use a ring-shaped LED light source or a strip fill light; the three sets of identification mechanisms correspond to the three transport lines respectively, and at least one set of camera modules 91 and lighting modules 92 are set at the end of each transport line to form an independent detection unit.

[0088] When in use, the lighting module 92 turns on directional fill light to eliminate ambient light interference and enhance the reflective properties of the gear surface. The camera module 91 simultaneously takes a top-view image of the gear and determines whether the inclination angle of the gear plane exceeds the threshold based on a specific algorithm; when it is detected that the angle of the gear's central axis is abnormal or the proportion of the tooth defect area is abnormal, the device skips the gear without grabbing it.

[0089] Through the above technical solution, 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 gear through image analysis; three sets of identification mechanisms cover the entire gear transportation line 3 to achieve comprehensive detection; thereby, abnormal gears are promptly discovered and prevented from entering the assembly link, avoiding assembly failure or tooth damage due to gear status problems; this active prevention mechanism improves the reliability and efficiency of the assembly process, reduces downtime and material waste caused by gear problems, and thus ensures the transmission performance and service life of the actuator.

[0090] Due to the synergy of the above structures, step 1 can be implemented through the following sub-steps:

[0091] Step 11: The tray clamping portion 842 clamps the tray 85 from the gear rack 81;

[0092] 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;

[0093] Step 13: The gear grabbing unit 32 grabs the gears that have passed the status recognition from the material tray 85 and places them along the transport line track 31 to the gear transfer mechanism 7;

[0094] Step 14: After the gears in the gear rack 81 to be loaded are completely grabbed, the tray clamping portion 842 is transferred to the loaded gear rack 82 via the transfer slide rail 841, and the tray 85 is placed down.

[0095] Please continue reading Figure 3 、 Figure 6 , wherein the gear transfer mechanism 7 includes a transfer platform 71, a transfer track 72 provided on the transfer platform 71 and a transfer fixture 73 slidably provided on the transfer track 72; the transfer fixture 73 has a gear angle adjustment hole 731;

[0096] 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 central axis angle of the gear during the transfer process.

[0097] It is understandable that if Figure 16 As shown, when the gear transfer mechanism 7 transfers the gears at the end of the gear transport line 3 to the assembly station, the gears may be placed at random angles, resulting in tooth misalignment and forced press-fitting during the subsequent assembly process, 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 abnormally large angles can be eliminated, there are still different degrees of angle deviations in the gears within the normal angle threshold range set by the gear state recognition mechanism 9, which causes the same problem; in this regard, the transfer track 72 of the present invention extends along the length direction of the transfer platform 71, allowing the transfer fixture 73 to slide back and forth in the horizontal direction; the hole wall of the gear angle adjustment hole 731 forms a constraint with the outer contour of the gear, such as using an elliptical hole or a belt The circular hole with positioning protrusion allows the gear to be embedded only 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 angle direction to prevent the gear from secondary deflection during the transfer process; when the gear grasping part 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 center axis of the gear is aligned 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 downward pressure axis of the assembly mechanism to ensure that the gear is clamped at the corrected angle.

[0098] Specifically, after the gear grabbing part 32 grabs the gear from the end of the gear transport line 3, it lowers the gear vertically into the gear angle adjustment hole 731 of the transfer fixture 73; when the outer edge of the gear contacts the inner wall of the adjustment hole, due to the geometric constraints of the hole wall, the gear is forced to correct its own axis; through the angle correction mechanism, the gear completes the pre-adjustment of the central axis during the transfer stage, so that the subsequent assembly process does not require additional angle correction steps, effectively improving assembly efficiency and reducing the risk of damage.

[0099] Through the above technical solution, the present application realizes automatic adjustment of the angle of the gear during the transportation process, thereby avoiding the problem of the central axis of the gear being placed in the assembly station at an abnormal angle, further eliminating the risk of forced press-fitting of the teeth due to abnormal gear angles, and effectively preventing tooth damage or assembly failure.

[0100] Please continue reading 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;

[0101] In step 4, step 5, step 6 and step 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 lifted by the corresponding lifting modules 23 in sequence to position the assembly table 22.

[0102] It is understandable that the actuator moves continuously on the actuator conveyor line 2 and needs to go through multiple assembly stations. If the assembly table 22 cannot be accurately positioned and the posture adjusted at each station, it may cause the actuator position to shift during gear assembly, the clamping claw or suction mechanism to deviate from the gear axis, and then cause problems such as poor meshing of gear teeth, uneven assembly force transmission, and abnormal noise from the actuator. To this end, the present invention provides lifting modules 23 at the first station 211, the second station 212, and the third station 213 respectively; the three lifting modules 23 can respectively adopt independent driving 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 lifting modules 23 at the corresponding stations lift the assembly table 22 and accurately position it.

[0103] Specifically, in step 4, step 5, step 6 and step 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 the assembly table 22 away from the conveying track 21 and positioned to a preset height. After completing the assembly of the first-level gear, the first lifting module 23 is reset, and the assembly table 22 continues to move to the second station 212, and the second lifting module 23 performs the same lifting action to ensure that the actuator posture during the assembly of the second-level gear is consistent with the state after the first-level assembly. After completing the assembly of the second-level gear, the second lifting module 23 is reset, and the assembly table 22 continues to move to the third station 213, and the third lifting module 23 performs the same lifting action, so that the assembly table 22 is precisely positioned in the three stations, thereby providing a basis for the precise installation of the three gears.

[0104] Through the above technical solution, the present invention realizes the precise positioning of the actuator during the multi-stage gear assembly process; by arranging 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 station; this segmented lifting method effectively eliminates the position deviation that may accumulate during the continuous conveying process of the actuator, ensuring the accuracy of each gear assembly process; since each workstation can independently control the lifting height, it can be flexibly adjusted according to the assembly requirements of gears of different levels, thereby improving the adaptability and accuracy of the assembly; in addition, through the precise docking of the lifting module 23 with the assembly table 22, the tilting 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 operational reliability of the actuator.

[0105] Please continue reading Figure 9 In some embodiments, the lifting module 23 includes a lifting power unit 231, a lifting plate 232 arranged on the lifting power unit 231, and a plurality of positioning columns 233 arranged on the lifting plate 232; the assembly platform 22 includes an assembly plate 221 and an actuator fixing unit 222 arranged 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.

[0106] 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 evenly distributed on the lifting plate 232, the position of the positioning hole 2211 corresponds one-to-one to the positioning column 233, and the hole diameter is slightly larger than the diameter of the positioning column 233 to ensure adaptive adjustment of slight deviations during the plug-in process; the contact surface between the lifting plate 232 and the assembly plate 221 can be provided with anti-slip grooves or an elastic buffer layer to avoid rigid impact; the end of the positioning column 233 can be designed as a conical guide structure, for example, the cone angle is 30 degrees, which is convenient for guiding the positioning hole 2211 and the positioning column 233 to be quickly aligned during initial insertion.

[0107] In steps 4, 5, 6 and 7, when the assembly table 22 moves to the bottom of the work station, the lifting power unit 231 drives the lifting plate 232 to move upward, and the positioning column 233 is gradually inserted into the positioning hole 2211 of the assembly plate 221; in this process, the conical guide 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 through geometric constraints until the positioning column 233 is fully 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 actuator position on the actuator fixing part 222 is forced to be calibrated to the preset coordinate.

[0108] Through the above technical solution, the present application realizes the precise positioning between the assembly platform 22 and the lifting module 23; the cooperation between the positioning column 233 and the positioning hole 2211 eliminates the position deviation that may occur in the assembly platform 22 during the lifting process, ensuring that the actuator always remains in the preset precise position; this forced positioning mechanism effectively prevents the displacement of the actuator position during the gear assembly process, making the position of the gear installed in the actuator more precise, further avoiding the problem of inaccurate gear tooth engagement or uneven assembly pressure; at the same time, the supporting role of the positioning column 233 on the assembly platform 22 also enhances the stability of the assembly process, further improving the accuracy and reliability of the gear assembly.

[0109] Please continue reading Figure 2-6 as well as Figure 10 The first-stage gear assembly mechanism 4 includes a first-stage gantry 42, a first-stage transfer slide 43 provided on the first-stage gantry 42, a first-stage transverse movement module 44 slidably provided on the first-stage transfer slide 43, and a first-stage longitudinal movement module 45 slidably provided on the first-stage transverse movement module 44; the first-stage gear clamp 41 is provided on the first-stage longitudinal movement module 45;

[0110] In step 4, after the first-stage gear clamp 41 grabs the first-stage gear, it is moved to the top of the actuator through the first-stage transverse movement module 44, and then the first-stage gear is completely assembled to the actuator through the first-stage longitudinal movement module 45.

[0111] Please continue reading Figure 2-6 as well as Figure 11-12 The secondary gear assembly mechanism 5 includes a secondary gantry 52, a secondary transfer slide 53 provided on the secondary gantry 52, a secondary transverse movement module 54 slidably provided on the secondary transfer slide 53, and a secondary longitudinal movement module 55 slidably provided on the secondary transverse movement module 54; the secondary gear clamp 51 is provided on the secondary longitudinal movement module 55;

[0112] In step 5, after the secondary gear clamp 51 grabs the secondary gear, it is moved to the top of the actuator through the secondary lateral movement module 54, and then the secondary gear is pre-assembled to the actuator through the secondary longitudinal movement module 55, and the teeth of the secondary gear and the teeth of the primary gear are in a non-meshing state.

[0113] It can be understood that, through the aforementioned structural design, in step 4, when the actuator conveyor line 2 transports the assembly table 22 to the first workstation 211, the first-level gear clamp 41 grabs the first-level gear from the transfer fixture 73, moves it to the top of the actuator through the first-level transverse movement module 44, and then installs the first-level gear into the actuator through the first-level longitudinal movement module 45; in step 5, the action of the second-level gear assembly mechanism 5 is consistent with the aforementioned first-level gear assembly mechanism 4, with the only difference being the pressing depth.

[0114] Please continue reading Figure 7-8 as well as Figure 13 The three-stage gear assembly mechanism 6 includes a three-stage gantry 63, a three-stage transfer slide 64 provided on the three-stage gantry 63, a three-stage transverse movement module 65 slidably provided on the three-stage transfer slide 64, and a three-stage longitudinal movement module 66 provided on the three-stage transverse movement module 65; the three-stage gear suction structure 61 includes a rotating portion 611 and a suction portion 612, and the rotating portion 611 and the suction portion 612 are provided on the three-stage longitudinal movement module 66;

[0115] In step 6, after the suction unit 612 sucks the three-stage gear, it is moved to the top of the actuator through the three-stage transverse module 65, and then the three-stage longitudinal module 66 and the rotating unit 611 produce a combined action of pressing down and rotating to completely assemble the three-stage gear to the actuator.

[0116] Specifically, the three-stage gantry 63 adopts a rectangular frame structure, and a three-stage transfer slide 64 is installed on its top crossbeam; the three-stage transverse module 65 is connected to the slide by a slider, and a ball screw transmission system driven by a servo motor is installed at the bottom to realize closed-loop control of the transverse position; the three-stage longitudinal module 66 is installed on the side of the three-stage transverse module 65 through a vertically arranged linear module, and a stepper motor and a synchronous belt transmission mechanism are integrated inside the module to drive the rotating part 611 and the suction part 612 to realize longitudinal lifting movement; the rotating part 611 includes It includes a rotating power unit 6111 and a rotating transmission unit 6112 arranged at the lower end of the rotating power unit 6111, and the suction unit 612 is arranged in the rotating transmission unit 6112; the rotating power unit 6111 can use a micro reduction motor as a driving source, and its output shaft is connected to the rotating transmission unit 6112 through a coupling, and a vacuum suction cup type suction unit 612 is provided at the end of the transmission unit; the rotating transmission unit 6112 adopts a slender cylinder and a hollow shaft design, and a vacuum pipeline is arranged inside, so that the suction unit 612 maintains a negative pressure adsorption function during the rotation process.

[0117] Through the above technical solution, the present invention realizes the three-dimensional precise positioning and synchronous adjustment of the rotation angle of the gear in a narrow space; the composite motion trajectory of the three-stage lateral movement module 65 and the three-stage longitudinal movement module 66 covers the entire path of the three-stage gear from the transportation end to the assembly station, and the integrated design of the rotating part 611 and the suction part 612 enables the gear to adjust the tooth angle in real time during the pressing process, so that the teeth of the three-stage gear can only be pressed down when they are engaged with the teeth of the first-stage gear during the rotation process; the vacuum adsorption suction part 612 is used to replace the traditional clamping claw to avoid spatial interference between the mechanical clamping mechanism and the assembled gear, ensuring that the three-stage gear is installed without damage in a limited assembly space.

[0118] Please continue reading Figure 7-8 as well as Figure 14 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;

[0119] Step 7 includes the following sub-steps:

[0120] Step 71: The lifting module 23 lifts the actuator via the assembly platform 22 to move the pre-assembled secondary gear upward;

[0121] Step 72: The push rod 6211 is driven upward by the secondary gear, and the elastic member 6212 is compressed;

[0122] Step 73: The primary gear is driven to rotate by the tertiary gear. When the teeth of the primary gear rotate to engage with the teeth 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.

[0123] Specifically, by setting the mounting arm 622 and the extended positioning portion 623, the secondary gear pressing portion 621 can be accurately extended from the conveying track 21 to the pre-assembled secondary gear position; when the assembly table 22 reaches the third workstation 213 and is lifted by the third lifting module 23, the assembly table 22 is accurately positioned, and the pre-assembled secondary gear is pushed upward by the push rod 6211 to compress the elastic part 6212, so that appropriate downward pressure is formed between the secondary gear and the primary gear. At the same time, since the third-stage gear will drive the primary gear to rotate during assembly, when the tooth portion of the primary gear rotates to engage with the tooth portion of the secondary gear, the elastic part 6212 is reset, and the secondary gear is completely assembled by the downward pressure of the push rod 6211.

[0124] The above description is merely a description of the preferred embodiment of the present invention and is not to be construed as limiting the scope of the claims. The present invention is not limited to the above embodiment, and variations in the specific structure are permitted. Any variations within the scope of the independent claims of the present invention are also within the scope of protection of the present invention.

Claims

1. A multi-stage gear assembly process for an actuator, characterized in that: The following steps are involved: Step 1, gear feeding: After the three gear transport lines are preliminarily screened by the corresponding gear state identification mechanism, the three types of gears are respectively transported to the corresponding gear transfer mechanism; Step 2, gear transfer: the gear transfer mechanism adjusts the gear angle and then transfers the gear to the actuator conveyor line; Step 3, actuator loading: the actuator conveyor 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 forward in steps on the actuator conveyor line; Step 4: Completely assemble the first-stage gear: The first-stage gear assembly mechanism includes a first-stage gear clamp; when the actuator is transported to the first station, the first-stage gear clamp grabs the first-stage gear from one of the gear transfer mechanisms and completely assembles the first-stage gear to the actuator by pressing down; Step 5: Pre-assembly of the secondary gear: The secondary gear assembly mechanism includes a secondary gear clamp; when the actuator is transported to the second station, the secondary gear clamp grabs the secondary gear from one of the gear transfer mechanisms and pre-assembles the secondary gear to the actuator by pressing down; Step 6: Completely assemble the three-stage gear: The three-stage gear assembly mechanism includes a three-stage gear suction structure. When the actuator is transported to the third station, the three-stage gear suction structure grabs the three-stage gear from one of the gear transfer mechanisms and performs a compound action of pressing down and rotating the three-stage gear. When the teeth of the three-stage gear rotate to mesh with the teeth of the first-stage gear, the three-stage gear is pressed down and completely assembled to the actuator. The first-stage gear is driven to rotate by the three-stage gear. Step 7: Completely assemble the secondary gear: The tertiary gear assembly mechanism includes a secondary gear press-fitting structure; the secondary gear press-fitting structure presses down the secondary gear. When the teeth of the primary gear rotate to engage with the teeth of the secondary gear, the secondary gear is pressed down and completely assembled to the actuator. The gear transfer mechanism includes a transfer platform, a transfer track arranged on the transfer platform, and a transfer jig slidably arranged on the transfer track; the transfer jig has a gear angle adjustment hole; In step 2, the transfer jig 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; The actuator conveying line includes a conveying track, an assembly table slidably arranged on the conveying track, and three lifting modules sequentially arranged 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 to the assembly table; The secondary gear pressing structure includes a mounting arm provided on the conveying track, an extended positioning portion provided on the mounting arm, and a secondary gear pressing portion provided on one end of the extended positioning portion; The secondary gear pressing portion includes a push rod arranged on the extended positioning portion, and an elastic member arranged between the extended positioning portion and the push rod.

2. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The multi-stage gear assembly equipment for an actuator comprises a workbench, the actuator conveyor line is arranged along the length direction of the upper end surface of the workbench, the three gear conveyor 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 sequentially arranged along the length direction of the actuator conveyor line, and the actuator conveyor line is located at the end of the three gear conveyor 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 transport line includes a transport line track arranged along the width direction of the upper end surface of the workbench and a gear grabbing part moving along the transport line track; The gear feeding mechanism includes a gear rack to be loaded, a loaded gear rack, two tray lifting power parts respectively arranged on the gear rack to be loaded and the loaded gear rack, a tray transfer module and a plurality of trays arranged on the upper end surface of the workbench; 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 equipped with gears are arranged in sequence in the gear rack to be loaded along the height direction of the gear rack to be loaded; The gear state recognition mechanism includes a camera module arranged on the transport 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 portion clamps the tray from the gear rack to be installed; Step 12: The lighting module illuminates the gears on the material tray; the camera module identifies the status of the gears on the gear feeding mechanism; Step 13: The gear grabbing unit identifies qualified gears from the material tray grabbing state and places the gears along the transport line track to the gear transfer mechanism; Step 14: After the gears in the gear rack to be loaded are grabbed, the tray clamping part is transferred to the loaded gear rack via the transfer slide rail, and the tray is put down.

5. The actuator multi-stage gear assembly process according to claim 1, characterized in that: In step 4, step 5, step 6 and step 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 modules in sequence to position the assembly table.

6. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The first-level gear assembly mechanism includes a first-level gantry, a first-level transfer slide rail provided on the first-level gantry, a first-level transverse movement module slidably provided on the first-level transfer slide rail, and a first-level longitudinal movement module slidably provided on the first-level transverse movement module; the first-level gear clamp is provided on the first-level longitudinal movement module; In step 4, after the first-stage gear gripper grabs the first-stage gear, it is moved to the top of 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.

7. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The secondary gear assembly mechanism includes a secondary gantry, a secondary transfer slide rail provided on the secondary gantry, a secondary transverse movement module slidably provided on the secondary transfer slide rail, and a secondary longitudinal movement module slidably provided on the secondary transverse movement module; The secondary gear clamp is provided on the secondary longitudinal movement module; In step 5, after the secondary gear clamp grasps the secondary gear, it is moved to the top of the actuator through the secondary lateral movement module, and then the secondary gear is pre-assembled to the actuator through the secondary longitudinal movement module, and the teeth of the secondary gear and the teeth of the primary gear are in a non-meshing state.

8. The actuator multi-stage gear assembly process according to claim 1, characterized in that: The three-stage gear assembly mechanism includes a three-stage gantry, a three-stage transfer slide rail provided on the three-stage gantry, a three-stage transverse movement module slidably provided on the three-stage transfer slide rail, and a three-stage longitudinal movement module provided on the three-stage transverse movement module; the three-stage gear suction structure includes a rotating part and a suction part, and the rotating part and the suction part are provided on the three-stage longitudinal movement module; In step 6, after the suction part sucks the three-stage gear, it is moved to the top of the actuator through the three-stage transverse movement module, and then the three-stage longitudinal movement module and the rotating part produce a composite action of pressing down and rotating to completely assemble the three-stage gear to the actuator.

9. The actuator multi-stage gear assembly process according to claim 5, characterized in that: Step 7 includes the following sub-steps: Step 71: The lifting module lifts the actuator via the assembly platform to move the pre-assembled secondary gear upward; Step 72: The push rod is driven upward by the secondary gear, and the elastic member is compressed; Step 73: The primary gear is driven to rotate by the tertiary gear. When the teeth of the primary gear rotate to engage with the teeth 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.

Images