An actuator multi-stage gear assembly device

Abstract

The application provides an actuator multistage gear assembling device, wherein a workbench is used as an assembling base platform, an actuator conveying line is arranged along the length direction of the upper end surface of the workbench, three gear conveying lines are arranged along the width direction of the upper end surface of the workbench, forming an orthogonal layout, a first-stage, a second-stage and a third-stage gear assembling mechanism are sequentially arranged along the length direction of the actuator conveying line and are respectively located at the ends of the three gear conveying lines, so that the structure of the whole device is compact and the layout is reasonable, thereby reducing the floor area; the structural design of the first-stage, the second-stage and the third-stage gear assembling mechanism solves the problems of completing multistage gear installation and gear damage during multistage gear installation in a compact actuator internal space; the coupling control of the multistage gear assembling time sequence and spatial action is realized through the cooperation of multiple mechanisms, the cooperation difficulty among multiple devices is greatly reduced, and the accurate meshing of the multistage gears in the limited space is ensured.

Description

Technical Field

[0001] This invention relates to the field of actuator manufacturing technology, and more specifically to a multi-stage gear assembly device for actuators. Background Technology

[0002] In the automotive technology field, actuators, as key power transmission and control components, are widely used in automotive air vents. Among them, LIN actuators have outstanding features such as miniaturization, lightweight, long lifespan, low noise, high EMC performance, and low torque. They also have multiple speed modes, automatic addressing, LIN2.x, and diagnostic feedback functions, meeting the requirements of automotive-grade electric air vents. Existing actuators typically consist of a motor drive unit, a transmission mechanism (such as a gear set or worm gear structure), and a sensor module. The design of the gear transmission system directly affects the output torque and accuracy of the actuator. Common structures include miniature high-density layouts such as planetary gears and multi-stage reduction gear sets. The gear materials are mainly metal or high-strength engineering plastics, and efficient power transmission is achieved through multi-stage precision tooth profile matching. Such actuators need to convert electronic control signals into precise mechanical actions, and functionally, they must meet the requirements of high reliability, low noise, and long lifespan. The accuracy requirements are even more stringent in the electronic control systems of new energy vehicles. Based on these requirements, the assembly of multi-stage gears in LIN actuators also has high requirements.

[0003] However, the existing multi-stage gears of actuators still have the following obvious defects in the assembly process of assembly equipment: (1) Because the internal space of the actuator is relatively compact, the gripping claws that grip the gear material are difficult to extend into the internal space of the actuator, so it is difficult to install the multi-stage gears in place; (2) The transmission between multi-stage gears is completed by the meshing of their teeth. When the first stage gear is installed, if the two gears are forcibly installed at an abnormal installation angle or the teeth of the two gears are not meshed, the teeth of the two gears will be damaged, resulting in abnormal noise and transmission failure during the operation of the actuator. (3) Existing multi-stage gear assembly equipment for actuators also has the problem of limited functionality. It can often only complete the automated assembly of one stage of the multi-stage gear. Not only is its functionality limited, but when it is necessary to install multi-stage gears, multiple related equipment need to be used in coordination, which makes the overall footprint of the multi-stage gear assembly equipment large and the coordination between the equipment difficult.

[0004] How to solve the above-mentioned defects and establish an automated and efficient assembly equipment for actuator gears is a problem that technicians are committed to solving. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide an actuator multi-stage gear assembly device that facilitates the installation of multi-stage gears in a compact actuator internal space, minimizes tooth damage during multi-stage gear installation, occupies a small area, and reduces the difficulty of coordination between various mechanisms.

[0006] The technical solution adopted by the present invention to solve the above problems is as follows: an actuator multi-stage gear assembly equipment, including a worktable, an actuator conveyor line arranged along the length direction of the upper surface of the worktable, three gear conveyor lines arranged along the width direction of the upper surface of the worktable and respectively transporting three types of gears, and a first-stage gear assembly mechanism, a second-stage gear assembly mechanism and a third-stage gear assembly mechanism arranged sequentially along the length direction of the actuator conveyor line and respectively located at the ends of the three gear conveyor lines; The primary gear assembly mechanism includes a primary gear gripper; the primary gear gripper picks up a primary gear from the end of one of the gear transport lines and performs a pressing action to fully assemble the primary gear; the secondary gear assembly mechanism includes a secondary gear gripper; the secondary gear gripper picks up a secondary gear from the end of one of the gear transport lines and performs a pressing action to pre-assemble the secondary gear; The three-stage gear assembly mechanism includes a three-stage gear picking structure and a two-stage gear pressing structure. The three-stage gear picking structure includes a rotating part and a picking part disposed below the rotating part. The picking part picks up the three-stage gear from the end of one of the gear transport lines and performs a pressing action. At the same time, the rotating part drives the three-stage gear to rotate. When the teeth of the three-stage gear mesh with the teeth of the first-stage gear, the three-stage gear is pressed down in a rotating state and fully assembled. The two-stage gear pressing structure includes a two-stage gear pressing part. The two-stage gear pressing part performs a pressing action on the two-stage gear. When the teeth of the two-stage gear mesh with the teeth of the first-stage gear, the two-stage gear is pressed down and fully assembled.

[0007] Compared with existing technologies, this invention achieves the coordinated assembly of multi-stage gears through integrated design. The workbench serves as the assembly platform, with actuator conveyor lines arranged along the length of the upper surface of the workbench and three gear conveyor lines arranged along the width of the upper surface of the workbench, forming an orthogonal layout. The first, second, and third stage gear assembly mechanisms are sequentially arranged along the length of the actuator conveyor lines and are located at the ends of the three gear conveyor lines, resulting in a compact and rationally laid-out structure, thus reducing the floor space required. The first-stage gear assembly mechanism's first-stage gear gripper picks up the first-stage gear from the end of one of the gear conveyor lines and completes the assembly through a linear downward pressing action. The first-stage gear assembly is completed because the actuator has ample internal space, allowing the first-stage gear gripper to directly press the gear into place. The second-stage gear assembly mechanism uses its gripper to pick up the second-stage gear from the end of another gear transport line and pre-assembles it through a pressing action. This pre-assembly action presses the second-stage gear into the actuator but not completely into place, reserving space for subsequent meshing adjustments. This pre-assembly method avoids tooth collisions that might result from direct pressing and also solves the difficulty of complete assembly caused by reduced internal space after the first-stage gear assembly. The third-stage gear assembly mechanism includes a third-stage gear picking structure and a second-stage gear pressing mechanism. The structure features a three-stage gear absorbing section that picks up the third-stage gear from the end of the third gear transport line and performs a pressing action. Simultaneously, a rotating section drives the third-stage gear to rotate. This combined rotation and pressing motion allows the third-stage gear to dynamically match the meshing angle with the first-stage gear during assembly. When the teeth of the third-stage gear mesh with the teeth of the first-stage gear, the third-stage gear is pressed down in a rotating state and fully assembled, thus preventing damage to the teeth of both gears during assembly. Furthermore, the third-stage gear drives the first-stage gear to rotate. The second-stage gear pressing section of the second-stage gear press-fitting structure, during the assembly of the third-stage gear… The pre-assembled secondary gear is pressed down, and the rotation of the primary gear is driven by the assembly of the tertiary gear. The teeth of the secondary gear can automatically adjust to mesh with the teeth of the primary gear, and then be pressed down to complete the final assembly, thus avoiding damage to the teeth of the secondary and primary gears during assembly. The above design realizes the coupled control of the assembly sequence and spatial action of multi-stage gears, which greatly reduces the difficulty of coordination between multiple devices. The coordinated action of the rotating part and the suction part breaks through the limitations of the traditional single press-fit mode. The rotation and pressing process forms a tooth surface self-aligning mechanism, ensuring that the multi-stage gears mesh accurately in a limited space.

[0008] The present invention provides an actuator multi-stage gear assembly device, which further includes three gear transfer mechanisms disposed on the upper surface of the workbench and three gear feeding mechanisms disposed within the workbench; the three gear feeding mechanisms are respectively disposed at the starting ends of the three gear transport lines; the three gear transfer mechanisms are respectively disposed at the ends of the three gear transport lines. The gear transport line includes a transport line track arranged along the width direction of the upper surface of the workbench and a gear gripping part that moves along the transport line track; the gear gripping part grips a gear from the gear feeding mechanism to the gear transfer mechanism.

[0009] The present invention provides an actuator multi-stage gear assembly device, wherein the gear feeding mechanism includes a gear rack to be assembled, an assembled gear rack, two material tray lifting power units respectively disposed on the gear rack to be assembled and the assembled gear rack, a material tray transfer module disposed on the upper surface of the workbench, and multiple material trays; The material tray transfer module includes a transfer slide rail and a material tray clamping part that is slidably disposed on the transfer slide rail; Multiple gear-equipped trays are arranged sequentially within the gear rack along the height direction of the gear rack to be installed; The tray clamping part picks up the tray from the gear rack to be installed; the tray clamping part transfers the tray to the gear rack to be installed via the transfer slide rail and then places the tray down.

[0010] The present invention discloses an actuator multi-stage gear assembly device, which further includes three sets of gear status recognition mechanisms; the gear status recognition mechanism includes a camera module disposed on the transport line track and an illumination module disposed on the upper surface of the workbench; the illumination module illuminates the gears on the gear feeding mechanism; the camera module performs status recognition on the gears on the gear feeding mechanism.

[0011] The present invention provides an actuator multi-stage gear assembly device, wherein the gear transfer mechanism includes a transfer platform, a transfer track disposed on the transfer platform, and a transfer fixture slidably disposed on the transfer track; the transfer fixture has a gear angle adjustment hole; when the gear gripping part places the gear in the gear angle adjustment hole, the gear angle is adjusted.

[0012] The present invention provides an actuator multi-stage gear assembly device, wherein the actuator conveyor line includes a conveyor rail, an assembly table slidably disposed on the conveyor rail, and three lifting modules sequentially disposed on the conveyor rail; The conveying track has a first station, a second station, and a third station arranged sequentially along its extension direction; the three lifting modules are respectively arranged below the first station, the second station, and the third station; As the assembly platform passes through the first workstation, the second workstation, and the third workstation in sequence, it is lifted by the corresponding lifting module in sequence.

[0013] The present invention provides an actuator multi-stage gear assembly device, wherein the lifting module includes a lifting power unit, a lifting plate disposed on the lifting power unit, and a plurality of positioning pins disposed on the lifting plate; the assembly table includes an assembly plate and an actuator fixing part disposed on the assembly plate; the assembly plate has a plurality of positioning holes; when the assembly plate is lifted by the lifting plate, the plurality of positioning pins are respectively inserted into the plurality of positioning holes.

[0014] The present invention provides an actuator multi-stage gear assembly device, wherein 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 transfer module slidably disposed on the first-stage transfer slide rail, and a first-stage longitudinal transfer module slidably disposed on the first-stage transverse transfer module; the first-stage gear gripper is disposed on the first-stage longitudinal transfer module; The secondary gear assembly mechanism includes a secondary gantry frame, a secondary transfer slide rail disposed on the secondary gantry frame, a secondary transverse transfer module slidably disposed on the secondary transfer slide rail, and a secondary longitudinal transfer module slidably disposed on the secondary transverse transfer module; the secondary gear gripper is disposed on the secondary longitudinal transfer module.

[0015] The present invention provides an actuator multi-stage gear assembly device, wherein the three-stage gear assembly mechanism includes a three-stage gantry frame, a three-stage transfer slide rail disposed on the three-stage gantry frame, a three-stage transverse transfer module slidably disposed on the three-stage transfer slide rail, and a three-stage longitudinal transfer module disposed on the three-stage transverse transfer module; the rotating part and the suction part are disposed on the three-stage longitudinal transfer module; The rotating part includes a rotating power part and a rotating transmission part; the suction part is disposed at the lower end of the rotating transmission part.

[0016] The present invention provides an actuator multi-stage gear assembly device, wherein the secondary gear press-fitting structure includes a mounting arm disposed on the conveying track and an extended positioning part disposed on the mounting arm; the secondary gear pressing part is disposed at one end of the extended positioning part; The secondary gear pressing part includes a push rod disposed in the extended positioning part, and an elastic element disposed between the extended positioning part and the push rod; When the assembly table is lifted at the third station, the pre-assembled secondary gear compresses the elastic element upward via the push rod; when the teeth of the secondary gear mesh with the teeth of the primary gear, the elastic element resets, and the secondary gear is fully assembled via the push rod. Attached Figure Description

[0017] Figure 1 This is a perspective view of a multi-stage gear assembly device for actuators according to a preferred embodiment of the present invention. Figure 2This is a top view schematic diagram of an actuator multi-stage gear assembly device according to a preferred embodiment of the present invention; Figure 3 This is a front view schematic diagram of an actuator multi-stage gear assembly device according to a preferred embodiment of the present invention; Figure 4 This is a perspective view of another side of the actuator multi-stage gear assembly equipment according to a preferred embodiment of the present invention; Figure 5 This is a schematic diagram showing the state of the actuator at three workstations according to a preferred embodiment of the present invention; Figure 6 This is a schematic diagram of the state of a three-stage gear assembly mechanism before operation according to a preferred embodiment of the present invention. Figure 7 This is a schematic diagram of the state of a three-stage gear assembly mechanism after operation according to a preferred embodiment of the present invention. Figure 8 This is a cross-sectional schematic diagram of an actuator delivery line according to a preferred embodiment of the present invention; Figure 9 A three-dimensional schematic diagram of the first-stage gear in its fully assembled state; Figure 10 A three-dimensional schematic diagram of the pre-assembled state of the secondary gear; Figure 11 A cross-sectional view of the pre-assembled secondary gear; Figure 12 A three-dimensional schematic diagram of the fully assembled three-stage gear; Figure 13 A three-dimensional schematic diagram of the fully assembled secondary gear; Figure 14 This is a three-dimensional schematic diagram showing the teeth of two gears in a non-meshing state during the assembly of a multi-stage gear system. Figure 15 This is a side view diagram showing the central axes of two gears at an abnormal angle during the assembly of a multi-stage gear.

[0018] In the picture: Workbench 1; 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; Gear transport line 3; transport line track 31; gear gripper 32; 4. Primary gear assembly mechanism; 41. Primary gear gripper; 42. Primary gantry frame; 43. Primary transfer slide rail; 44. Primary transverse module; 45. Primary longitudinal module; Secondary gear assembly mechanism 5; secondary gear gripper 51, secondary gantry frame 52, secondary transfer slide rail 53, secondary transverse module 54, secondary longitudinal module 55; 6. Three-stage gear assembly mechanism; 61. Three-stage gear pick-up structure; 62. Two-stage gear press-fit structure; 63. Three-stage gantry frame; 64. Three-stage transfer slide rail; 65. Three-stage transverse module; 66. Three-stage longitudinal module; 611. Rotating part; 612. Pick-up part; 621. Two-stage gear pressing part; 622. Mounting arm; 623. Extension positioning part; 6111. Rotary power part; 6112. Rotary transmission part; 6211. Push rod; 6212. Elastic element. Gear transfer mechanism 7; transfer platform 71, transfer track 72, transfer fixture 73; gear angle adjustment hole 731; Gear feeding mechanism 8; gear rack to be installed 81, gear rack already installed 82, tray lifting power unit 83, tray transfer module 84, tray 85; transfer slide rail 841, tray clamping part 842; Gear status recognition mechanism 9; camera module 91; lighting module 92. Detailed Implementation

[0019] Before detailing any embodiment of the invention, it should be understood that the invention, in its application, is not limited to the details of the construction and arrangement of the components set forth in the following description or illustrated in the following figures. The invention can have other embodiments and can be practiced or carried out in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “comprising” or “having” and variations thereof is intended to cover the items set forth below and their equivalents, as well as any additional items. Unless otherwise specified or limited, the terms “installation,” “connection,” “support,” and “linkage,” and variations thereof are used broadly and cover both direct and indirect installation, connection, support, and linking. Moreover, “connection” and “linkage” are not limited to physical or mechanical connections or links.

[0020] Furthermore, firstly, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention. Secondly, 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 another embodiment, the number of the element can be multiple. The term "a" should not be construed as a limitation on the quantity.

[0021] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely 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 explained in the embodiments, and any variations or modifications may be made to the implementation of the present invention without departing from the stated principles.

[0022] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0023] In the traditional multi-stage gear assembly process of actuators, there are systemic defects in gear installation path planning and meshing angle control. The multi-stage gear assembly operation is constrained by the internal cavity dimensions of the actuator, making it difficult for the mechanical grippers to effectively reach the deep cavity installation position, resulting in insufficient or misaligned gear pressing stroke and incomplete assembly. Furthermore, during multi-stage gear assembly, the teeth are in a position such as… Figure 14 The non-meshing state shown may be due to the presence of a gear centerline, such as... Figure 15 The abnormal angles shown cause plastic deformation or micro-cracks in the tooth profile; multi-stage assembly processes require independent equipment to complete in sections, and the cumulative repeated positioning errors during gear transfer lead to inaccurate assembly datums, and the complexity of equipment collaborative control increases exponentially with the number of gear stages; if the above problems are not solved, the assembly accuracy of multi-stage gears will be limited by the physical boundary conditions of the equipment, and will not be able to meet the assembly requirements of high-density miniaturized actuators; damage to the gear meshing surface will cause excessive vibration and noise in the transmission system, shortening the mean time between failures (MTBF) of the actuator; the cumulative positioning errors generated by the collaborative operation of multiple devices will lead to a low overall assembly qualification rate, and the increased floor space of the production line equipment will lead to an increase in unit production capacity costs.

[0024] Faced with the above problems, the traditional linear press-fitting mode results in insufficient space for subsequent assembly after the first-stage gear is assembled. This invention considers changing the second-stage gear to pre-assembly to retain adjustment margin, and at the same time develops a rotary pressing mechanism to solve the problem of deep cavity assembly. For gear meshing angle control, this invention introduces a dynamic rotation adjustment mechanism to match the gear meshing angle in real time during the press-fitting process. In response to the problem of low efficiency of multi-equipment collaboration, this application explores an orthogonal layout of the conveyor line structure, which realizes multi-station integration through the spatial intersection of the actuator conveyor line 2 and the gear transport line 3. The three-stage assembly mechanism adopts a composite function design, which simultaneously triggers the second-stage final press-fitting when the third-stage assembly is completed, realizing the temporal coupling of multi-stage actions.

[0025] For this, please refer to Figure 1-13The illustrated multi-stage gear assembly equipment for actuators includes a worktable 1, an actuator conveyor line 2 arranged along the length of the upper surface of the worktable 1, three gear conveyor lines 3 arranged along the width of the upper surface of the worktable 1 and transporting three types of gears respectively, and a first-stage gear assembly mechanism 4, a second-stage gear assembly mechanism 5, and a third-stage gear assembly mechanism 6 arranged sequentially along the length of the actuator conveyor line 2 and located at the ends of the three gear conveyor lines 3 respectively. The first-stage gear assembly mechanism 4 includes a first-stage gear gripper 41; the first-stage gear gripper 41 grasps a first-stage gear from the end of one of the gear conveyor lines 3 and performs a downward pressing action to fully assemble the first-stage gear; the second-stage gear assembly mechanism 5 includes a second-stage gear gripper 51; the second-stage gear gripper 51 grasps a second-stage gear from the end of one of the gear conveyor lines 3 and performs a downward pressing action to fully assemble the first-stage gear; The pressing action pre-assembles the secondary gear; the tertiary gear assembly mechanism 6 includes a tertiary gear picking structure 61 and a secondary gear pressing structure 62; the tertiary gear picking structure 61 includes a rotating part 611 and a picking part 612 disposed below the rotating part 611; the picking part 612 picks up the tertiary gear from the end of one of the gear transport lines 3 and performs a pressing action, while the rotating part 611 drives the tertiary gear to rotate. When the teeth of the tertiary gear mesh with the teeth of the primary gear, the tertiary gear is pressed down in a rotating state and fully assembled; the secondary gear pressing structure 62 includes a secondary gear pressing part 621; the secondary gear pressing part 621 performs a pressing action on the secondary gear. When the teeth of the secondary gear mesh with the teeth of the primary gear, the secondary gear is pressed down and fully assembled.

[0026] Specifically, the workbench 1 can be implemented using a combination of a metal frame and a tabletop, providing an installation reference for the actuator conveyor line 2, gear conveyor line 3, first-stage gear assembly mechanism 4, second-stage gear assembly mechanism 5, and third-stage gear assembly mechanism 6. The actuator conveyor line 2 refers to a conveyor system set along the length 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 conveyor lines 3 refer to independent material conveying channels set along the width of the workbench 1, which can be implemented using conveyor belts with guide rails in conjunction with a gripping robotic arm, transporting three different specifications of gears to their corresponding assembly stations. The first-stage gear gripper 41 is the end effector used to grip the first-stage gear. The actuator, specifically, can be implemented using pneumatic grippers or electric clamps, pressing the primary gear into a predetermined position inside the actuator through a vertical downward pressing action; the secondary gear gripper 51 refers to the end effector used to grasp the secondary gear, specifically using an adaptive gripper with a pressure sensor, pre-assembling the secondary gear into a reserved gap position inside the actuator through a downward pressing action; the tertiary gear picking structure 61 refers to a vacuum adsorption device used to grasp the tertiary gear, specifically using a vacuum suction cup driven by a rotary motor, adjusting the gear meshing angle through a combined rotation and downward pressing motion; the secondary gear pressing structure 62 refers to the execution unit used to complete the final pressing of the secondary gear, ensuring the gear teeth are properly meshed through elastic buffering. In practical use, this invention achieves the coordinated assembly of multi-stage gears through integrated design. The workbench 1 serves as the assembly platform, with the actuator conveyor line 2 arranged along the length of the upper surface of the workbench 1, and three gear conveyor lines 3 arranged along the width of the upper surface of the workbench 1, forming an orthogonal layout. The first-stage, second-stage, and third-stage gear assembly mechanisms are arranged sequentially along the length of the actuator conveyor line 2 and are located at the ends of the three gear conveyor lines 3, making the entire equipment compact and rationally laid out, thereby reducing the floor space. The first-stage gear assembly mechanism 4's first-stage gear gripper 41 picks up the first-stage gear from the end of one of the gear conveyor lines 3 and completes the first-stage assembly through a linear downward pressing action. For complete gear assembly, since the actuator has ample internal space at this stage, the primary gear gripper 41 can directly press the gear into place. The secondary gear assembly mechanism 5's secondary gear gripper 51 picks up the secondary gear from the end of another gear transport line 3 and pre-assembles it through a pressing action. This pre-assembly action presses the secondary gear into the actuator but not completely into place, reserving space for subsequent meshing adjustments. This pre-assembly method avoids tooth collisions that might result from direct pressing and also solves the difficulty of complete assembly caused by reduced internal space after primary gear assembly. The tertiary gear assembly mechanism 6 includes a tertiary gear picking structure 61 and a secondary gear pressing structure. 62. The absorbing part 612 of the third-stage gear absorbing structure 61 absorbs the third-stage gear from the end of the third gear transport line 3 and performs a pressing action; simultaneously, the rotating part 611 drives the third-stage gear to rotate. This combined rotation and pressing motion allows the third-stage gear to dynamically match the meshing angle with the first-stage gear during assembly. When the teeth of the third-stage gear mesh with the teeth of the first-stage gear, the third-stage gear is pressed down in a rotating state and fully assembled, thereby avoiding damage to the teeth of both the third-stage gear and the first-stage gear during assembly, and the third-stage gear drives the first-stage gear to rotate; the second-stage gear pressing part 621 of the second-stage gear pressing structure 62 presses down on the third-stage gear during assembly. During the assembly process, the pre-assembled secondary gear is pressed down. The rotation of the primary gear is driven by the assembly of the tertiary gear, and the teeth of the secondary gear can automatically adjust to mesh with the teeth of the primary gear. Then, it is pressed down to complete the final assembly, thus avoiding damage to the teeth of the secondary and primary gears during assembly. The above design realizes the coupling control of the assembly sequence and spatial action of multi-stage gears, which greatly reduces the difficulty of coordination between multiple devices. The coordinated action of the rotating part 611 and the suction part 612 breaks through the limitations of the traditional single pressing mode. The rotation and pressing process forms a tooth surface self-positioning mechanism to ensure that the multi-stage gears mesh accurately in a limited space.

[0027] Please continue reading. Figure 1-4The system further includes three gear transfer mechanisms 7 disposed on the upper surface of the workbench 1 and three gear feeding mechanisms 8 disposed within the workbench 1; the three gear feeding mechanisms 8 are respectively disposed at the starting ends of the three gear transport lines 3; the three gear transfer mechanisms 7 are respectively disposed at the ends of the three gear transport lines 3; the gear transport line 3 includes a transport line track 31 disposed along the width direction of the upper surface of the workbench 1 and a gear gripping part 32 moving along the transport line track 31; the gear gripping part 32 grips a gear from the gear feeding mechanism 8 to the gear transfer mechanism 7 releasing the gear.

[0028] Specifically, the gear feeding mechanism 8 continuously supplies stacked gear trays 85 to the starting end of the transport line track 31. When the tray 85 is detected to be in place, the gear gripping part 32 moves along the width direction of the transport line track 31 to the picking position. It completes the gripping of a single gear through the opening and closing action of the gripper, and then moves along the track to the corresponding gear transfer mechanism 7 at the end. The whole process is carried out in parallel through three independently operating feeding-transporting-transfer channels, and the gear types of each channel do not interfere with each other. The gear gripping part 32 maintains horizontal movement during transportation to avoid gear displacement due to vertical vibration.

[0029] Please continue reading. Figure 2 , Figure 4 The gear feeding mechanism 8 includes a gear rack 81 to be installed, a gear rack 82 already installed, two tray lifting power units 83 respectively set on the gear rack 81 and the gear rack 82, a tray transfer module 84 set on the upper surface of the workbench 1, and multiple trays 85; the tray transfer module 84 includes a transfer slide rail 841 and a tray clamping part 842 slidably set on the transfer slide rail 841; multiple trays 85 equipped with gears are arranged sequentially in the gear rack 81 along the height direction of the gear rack 81 to be installed; the tray clamping part 842 clamps the tray 85 from the gear rack 81 to be installed; the tray clamping part 842 transfers the tray 85 to the gear rack 82 via the transfer slide rail 841 and puts the tray 85 down.

[0030] The gear rack 81 to be installed and the gear rack 82 to be installed are configured as storage units for independently vertically stacked trays 85. Each tray lifting power unit 83 may include a 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 gear rack 81 to be installed and the gear rack 82 to be installed. The tray clamping part 842 may be a pneumatic gripper or an electromagnetic adsorption device. The tray 85 can be lifted stepwise by the tray lifting power unit 83 so that the currently working tray 85 is always at the gripping height of the clamping part. Specifically, during the gear supply process, multiple trays 85 within the gear rack 81 are progressively lifted to the clamping height by the tray lifting power unit 83. The tray clamping unit 842 moves along the transfer slide rail to the rack to clamp a full tray 85, thus fixing the tray 85 to ensure that the tray 85 does not shift when the gear gripping unit 32 grips the gear from the full tray 85. Subsequently, the tray clamping unit 842 transfers the empty tray 85 to the rack above the gear rack 82 for release. The tray lifting power unit 83 of the rack simultaneously descends to receive the empty tray 85, forming a closed-loop circulation path for the trays 85. Through the above technical solution, the present invention achieves automated circulation management of the gear trays 85, improving the continuity of gear supply. Efficiency; The vertical stacking design of multiple trays 85 within the gear rack 81, combined with the automatic lifting function of the tray lifting power unit 83, reduces the need for frequent manual replenishment; The design of the tray transfer module 84 makes the transfer process of the trays 85 between the rack to be loaded and the rack already loaded more controllable and precise; Two independent tray lifting power units 83 act on the racks to be loaded and the rack already loaded respectively, effectively preventing tilting or jamming problems that may occur during the stacking of trays 85; In addition, the three gear feeding mechanisms 8 are all set inside the workbench 1 and are located at the starting end of the three gear transport lines 3, which makes more reasonable use of the space inside the workbench 1 and the upper surface, which helps to increase the compactness of the equipment and reduce the floor space.

[0031] Please continue reading. Figure 2 , Figure 4 The system further includes three gear status recognition mechanisms 9; each gear status recognition mechanism 9 includes a camera module 91 mounted on the transport line track 31 and an illumination module 92 mounted on the upper surface of the workbench 1; the illumination module 92 illuminates the gears on the gear feeding mechanism 8; and the camera module 91 identifies the status of the gears on the gear feeding mechanism 8.

[0032] It is understandable that the gears in the material tray 85 may experience problems such as positional displacement, abnormal angle, or surface damage during feeding and transportation. If these problems are not detected in time and the gear gripper 32 grips and installs them, the gears will not be able to mesh accurately during subsequent assembly, or even cause tooth damage, affecting the transmission performance and reliability of the actuator. For example, if the gears in the material tray 85 are gripped while in an upright state and forcibly installed in subsequent steps, it will cause damage to the internal parts of the actuator. To address this, the present invention allows the camera module 91 to be installed on the side or top of the transport line track 31 to capture the details of the gear tooth contour. The lighting module 92 can use a ring LED light source or a strip light. The three sets of identification mechanisms correspond to the three transport lines respectively, and at least one set of camera module 91 and lighting module 92 is set at the end of each transport line to form an independent detection unit. Specifically, during the process of the gear gripping part 32 at the end of the gear transport line 3 transferring the material tray 85 to the transfer fixture 73, the lighting module 92 turns on directional supplementary lighting to eliminate ambient light interference and enhance the reflective properties of the gear surface. The camera module 91 simultaneously captures a top view image of the gear and determines whether the gear plane tilt angle exceeds the threshold based on a specific algorithm. When an abnormality is detected in the gear's central axis angle or the proportion of tooth defects is abnormal, the equipment skips the gear without gripping it.

[0033] Through the above technical solution, this application realizes real-time status monitoring of the gear feeding process; the lighting module 92 provides a stable light source, and the camera module 91 captures high-quality images, accurately identifying the gear position, angle, and integrity through image analysis; three sets of identification mechanisms cover the entire gear transport line 3, achieving comprehensive detection; thereby, abnormal gears are detected and prevented from entering the assembly stage in a timely manner, avoiding assembly failure or tooth damage caused by gear condition problems; this proactive 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.

[0034] Please continue reading. Figure 2 , Figure 3 , Figure 5 The gear transfer mechanism 7 includes a transfer platform 71, a transfer track 72 disposed on the transfer platform 71, and a transfer fixture 73 slidably disposed on the transfer track 72; the transfer fixture 73 has a gear angle adjustment hole 731; when the gear gripping part 32 places the gear in the gear angle adjustment hole 731, the gear angle is adjusted.

[0035] It is understandable that 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, leading to tooth misalignment and forced pressing during subsequent assembly, causing tooth damage or assembly failure. Furthermore, although the gears on the tray 85 are screened by the gear status recognition mechanism 9 to remove some gears with abnormally large angles, gears within the normal angle threshold range set by the gear status recognition mechanism 9 still exhibit varying degrees of angle deviation, thus causing the same problem. To address this, the transfer track 72 of this invention extends along the length 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 gear outline, for example, using an elliptical hole. The gear can be inserted only at a preset angle through a circular hole with a positioning protrusion. During the sliding process of the transfer fixture 73 on the transfer track 72, the gear angle adjustment hole 731 always maintains a fixed angle direction to prevent the gear from deflecting twice during the transfer process. When the gear gripping 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 gear's central axis is aligned with the preset assembly angle. Furthermore, the depth of the gear angle adjustment hole 731 can be set to 1.2-1.5 times the gear thickness to restrict the axial freedom of the gear in the hole. When the transfer fixture 73 slides to the assembly station, the position of the gear angle adjustment hole 731 is coaxial with the downward pressing axis of the assembly mechanism to ensure that the gear is gripped at the corrected angle.

[0036] Specifically, after the gear gripping part 32 grips the gear at 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, the gear is forced to correct its own axis due to the geometric constraint of the hole wall. Through the angle correction mechanism, the gear completes the pre-adjustment of the central axis during the transfer stage, so that no additional angle correction step is required in the subsequent assembly process, which effectively improves the assembly efficiency and reduces the risk of damage.

[0037] Through the above technical solution, this application realizes the automatic adjustment of the gear angle during the transfer process, thereby avoiding the problem of the gear's central axis being placed at the assembly station at an abnormal angle. Furthermore, it eliminates the risk of forced pressing of the gear teeth due to gear angle deviation, effectively preventing tooth damage or assembly failure.

[0038] Please continue reading. Figure 2 , Figure 3 , Figure 8The actuator conveyor line 2 includes a conveyor track 21, an assembly table 22 slidably disposed on the conveyor track 21, and three lifting modules 23 sequentially disposed on the conveyor track 21. The conveyor track 21 has a first station 211, a second station 212, and a third station 213 sequentially disposed in the extension direction. The three lifting modules 23 are respectively disposed below the first station 211, the second station 212, and the third station 213. 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 module 23 in sequence.

[0039] It is understandable that the actuator moves continuously on the actuator conveyor line 2 and needs to pass through multiple assembly stations. If the assembly table 22 cannot be accurately positioned and its posture adjusted at each station, it may cause the actuator position to shift during gear assembly, or the gripper or suction mechanism to deviate from the gear axis, which may lead to problems such as poor gear meshing, uneven transmission of assembly force, and abnormal noise from the actuator. To address this, the present invention provides lifting modules 23 at the first station 211, the second station 212, and the third station 213. The three lifting modules 23 can each use an independent drive source, such as a servo motor or a cylinder, 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 module 23 of the corresponding station lifts the assembly table 22 and performs precise positioning.

[0040] Specifically, when the assembly table 22 slides along the conveyor track 21 to the first station 211, the first lifting module 23 is lifted in a controlled manner, causing the assembly table 22 to detach from the conveyor track 21 and be 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 actuator posture is consistent with the state after the first-stage gear assembly during the second-stage gear 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. This ensures that the assembly table 22 is accurately positioned at all three stations, thus providing a foundation for the precise installation of the three gears.

[0041] Through the above technical solution, the present invention achieves precise positioning of the actuator in the multi-stage gear assembly process; by setting three independent lifting modules 23 on the conveying track 21, corresponding to three workstations, the assembly table 22 can be precisely lifted to a preset height at each assembly workstation; this segmented lifting method effectively eliminates the positional deviation that may accumulate in the actuator during continuous conveying, 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 assembly; in addition, through the precise docking of the lifting module 23 with the assembly table 22, tilting or misalignment that may occur during gear assembly is avoided, thereby reducing the risk of damage to the gear teeth and improving the assembly quality and the operational reliability of the actuator.

[0042] Please continue reading. Figure 2 , Figure 3 , Figure 8 The lifting module 23 includes a lifting power unit 231, a lifting plate 232 disposed on the lifting power unit 231, and multiple positioning posts 233 disposed on the lifting plate 232; the assembly table 22 includes an assembly plate 221 and an actuator fixing part 222 disposed on the assembly plate 221; the assembly plate 221 has multiple positioning holes 2211; when the assembly plate 221 is lifted by the lifting plate 232, the multiple positioning posts 233 are respectively inserted into the multiple positioning holes 2211.

[0043] 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 that contacts the assembly plate 221. The number of positioning pins 233 can be two or four and evenly distributed on the lifting plate 232. The positions of the positioning holes 2211 correspond one-to-one with the positioning pins 233, and the hole diameter is slightly larger than the diameter of the positioning pins 233 to ensure adaptive adjustment of minor deviations during insertion. The contact surface between the lifting plate 232 and the assembly plate 221 can be provided with anti-slip textures or an elastic buffer layer to avoid rigid impact. The end of the positioning pin 233 can be designed as a tapered guide structure, for example, with a tapered angle of 30 degrees, to facilitate quick alignment of the positioning holes 2211 and the positioning pins 233 during initial insertion. In use, 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 pin 233 gradually inserts into the positioning hole 2211 of the assembly plate 221. During this process, the tapered guide structure first contacts the edge of the positioning hole 2211, and forces the assembly plate 221 to adjust its position along the axis of the positioning pin 233 through geometric constraints until the positioning pin 233 is fully inserted. After the assembly plate 221 is lifted by the lifting plate 232, the gap between the positioning pin 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 forcibly calibrated to the preset coordinates.

[0044] Through the above technical solution, this application achieves precise positioning between the assembly table 22 and the lifting module 23; the cooperation between the positioning pin 233 and the positioning hole 2211 eliminates the possible positional deviation of the assembly table 22 during the lifting process, ensuring that the actuator always remains in the preset precise position; this forced positioning mechanism effectively prevents the actuator position from shifting during gear assembly, 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 pin 233 on the assembly table 22 also enhances the stability of the assembly process, further improving the accuracy and reliability of gear assembly.

[0045] Please continue reading. Figure 2 , Figure 3 , Figure 5 The primary gear assembly mechanism 4 includes a primary gantry 42, a primary transfer rail 43 disposed on the primary gantry 42, a primary transverse transfer module 44 slidably disposed on the primary transfer rail 43, and a primary longitudinal transfer module 45 slidably disposed on the primary transverse transfer module 44; a primary gear gripper 41 is disposed on the primary longitudinal transfer module 45; the secondary gear assembly mechanism 5 includes a secondary gantry 52, a secondary transfer rail 53 disposed on the secondary gantry 52, a secondary transverse transfer module 54 slidably disposed on the secondary transfer rail 53, and a secondary longitudinal transfer module 55 slidably disposed on the secondary transverse transfer module 54; a secondary gear gripper 51 is disposed on the secondary longitudinal transfer module 55.

[0046] Understandably, please refer to Figure 9 Because the gear assembly mechanisms at each stage need to cross the corresponding conveyor track to grip and press the gears, traditional single-axis moving mechanisms suffer from insufficient lateral and longitudinal positioning accuracy. This makes it difficult for the gripper to accurately adjust its posture in three-dimensional space, and skewing or positioning deviations are prone to occur during gear gripping, thus affecting the gear tooth meshing accuracy and assembly efficiency. However, this invention, through the aforementioned structural design, when the actuator conveyor line 2 transports the assembly table 22 to the first station 211, the first-stage gear gripper 41 grips the first-stage gear from the transfer fixture 73, moves it above the actuator via the first-stage lateral movement module 44, and then loads the first-stage gear into the actuator via the first-stage longitudinal movement module 45. Please refer to [link to relevant documentation]. Figure 10 , Figure 11 The operation of the secondary gear assembly mechanism 5 is the same as that of the aforementioned primary gear assembly mechanism 4.

[0047] Please continue reading. Figure 6-8 as well as Figure 12The three-stage gear assembly mechanism 6 includes a three-stage gantry 63, a three-stage transfer slide rail 64 disposed on the three-stage gantry 63, a three-stage transverse transfer module 65 slidably disposed on the three-stage transfer slide rail 64, and a three-stage longitudinal transfer module 66 disposed on the three-stage transverse transfer module 65; a rotating part 611 and a suction part 612 are disposed on the three-stage longitudinal transfer module 66; the rotating part 611 includes a rotating power part 6111 and a rotating transmission part 6112; the suction part 612 is disposed at the lower end of the rotating transmission part 6112.

[0048] Specifically, the three-stage gantry 63 adopts a rectangular frame structure, with a three-stage transfer slide rail 64 installed on its top crossbeam; the three-stage transverse module 65 is slidably connected to the slide rail via a slider, and its bottom is equipped with a ball screw transmission system driven by a servo motor to achieve closed-loop control of the transverse position; the three-stage longitudinal module 66 is installed on the side of the transverse module via a vertically arranged linear module, and the module integrates a stepper motor and a synchronous belt transmission mechanism to drive the rotating part 611 and the suction part 612 to achieve longitudinal lifting and lowering movement; the rotating power part 6111 can be a micro geared motor as the drive source, and its output shaft is connected to the rotating transmission part 6112 via a coupling, and the end of the transmission part is equipped with a vacuum suction cup type suction part 612; the rotating transmission part 6112 adopts a slender cylinder with a hollow shaft design, and a vacuum pipeline is arranged inside, so that the suction part 612 maintains the negative pressure adsorption function during rotation.

[0049] Through the above technical solution, the present invention achieves three-dimensional precise positioning and synchronous adjustment of rotation angle of gear in a narrow space; the composite motion trajectory of the three-stage transverse module 65 and the three-stage longitudinal module 66 covers the entire path of the three-stage gear from the end of transportation to the assembly station; 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 mesh with the teeth of the first-stage gear during the rotation; the vacuum adsorption suction part 612 replaces the traditional gripper, avoiding spatial interference between the mechanical clamping mechanism and the assembled gear, and ensuring that the three-stage gear is installed without damage in a limited assembly space.

[0050] Please continue reading. Figure 6-8 as well as Figure 13The secondary gear press-fitting structure 62 includes a mounting arm 622 disposed on the conveying track 21 and an extended positioning part 623 disposed on the mounting arm 622; a secondary gear pressing part 621 is disposed at one end of the extended positioning part 623; the secondary gear pressing part 621 includes a push rod 6211 disposed on the extended positioning part 623 and an elastic member 6212 disposed between the extended positioning part 623 and the push rod 6211; when the assembly table 22 is lifted at the third station 213, the pre-assembled secondary gear compresses the elastic member 6212 upward via the push rod 6211; when the teeth of the secondary gear mesh with the teeth of the primary gear, the elastic member 6212 resets, and the secondary gear is fully assembled via the push rod 6211.

[0051] Specifically, by installing the arm 622 and extending the positioning part 623, the secondary gear pressing part 621 can be precisely extended 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 is precisely positioned and the pre-assembled secondary gear is pushed upward by the push rod 6211 to compress the elastic element 6212, so that an appropriate downward pressure is formed between the secondary gear and the primary gear. At the same time, since the tertiary gear will drive the primary gear to rotate during assembly, when the teeth of the primary gear rotate to mesh with the teeth of the secondary gear, the elastic element 6212 is reset, and the secondary gear is fully assembled by the downward pressure of the push rod 6211.

[0052] The above description only illustrates the preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. The present invention is not limited to the above embodiments, and variations in its specific structure are permitted. All modifications made within the scope of the independent claims of this invention are also within the scope of protection of this invention.

Claims

1. An actuator multi-stage gear assembly device, characterized in that: It includes a workbench (1), an actuator conveyor line (2) arranged along the length of the upper end face of the workbench (1), three gear conveyor lines (3) arranged along the width of the upper end face of the workbench (1) and transporting three types of gears respectively, and a first-stage gear assembly mechanism (4), a second-stage gear assembly mechanism (5) and a third-stage gear assembly mechanism (6) arranged sequentially along the length of the actuator conveyor line (2) and located at the ends of the three gear conveyor lines (3) respectively; The first-stage gear assembly mechanism (4) includes a first-stage gear gripper (41); the first-stage gear gripper (41) grips a first-stage gear from the end of one of the gear transport lines (3) and performs a full assembly of the first-stage gear by pressing down; the second-stage gear assembly mechanism (5) includes a second-stage gear gripper (51); the second-stage gear gripper (51) grips a second-stage gear from the end of one of the gear transport lines (3) and performs a pre-assembly of the second-stage gear by pressing down; The three-stage gear assembly mechanism (6) includes a three-stage gear picking structure (61) and a two-stage gear pressing structure (62); the three-stage gear picking structure (61) includes a rotating part (611) and a picking part (612) disposed below the rotating part (611); the picking part (612) picks up the three-stage gear from the end of one of the gear transport lines (3) and performs a pressing action, while the rotating part (611) drives the three-stage gear to rotate. When the teeth of the three-stage gear mesh with the teeth of the first-stage gear, the three-stage gear is pressed down in a rotating state and fully assembled; the two-stage gear pressing structure (62) includes a two-stage gear pressing part (621). The second-stage gear pressing part (621) of the second-stage gear pressing structure (62) presses down on the pre-assembled second-stage gear during the assembly of the third-stage gear. By utilizing the rotation of the first-stage gear during the assembly of the third-stage gear, the teeth of the second-stage gear can automatically adjust to mesh with the teeth of the first-stage gear, and then be pressed down to complete the final assembly.

2. The actuator multi-stage gear assembly equipment according to claim 1, characterized in that: It further includes three gear transfer mechanisms (7) disposed on the upper surface of the workbench (1) and three gear feeding mechanisms (8) disposed within the workbench (1); the three gear feeding mechanisms (8) are respectively disposed at the starting ends of the three gear transport lines (3); the three gear transfer mechanisms (7) are respectively disposed at the ends of the three gear transport lines (3); The gear transport line (3) includes a transport line track (31) arranged along the width direction of the upper end face of the workbench (1) and a gear gripping part (32) that moves along the transport line track (31); the gear gripping part (32) grips the gear from the gear feeding mechanism (8) and puts the gear down from the gear transfer mechanism (7).

3. The actuator multi-stage gear assembly equipment according to claim 2, characterized in that: The gear feeding mechanism (8) includes a gear rack to be installed (81), a gear rack already installed (82), two tray lifting power units (83) respectively set on the gear rack to be installed (81) and the gear rack already installed (82), a tray transfer module (84) set on the upper surface of the workbench (1), and multiple trays (85). The tray transfer module (84) includes a transfer slide rail (841) and a tray clamping part (842) that is slidably disposed on the transfer slide rail (841). Multiple gear-equipped trays (85) are arranged sequentially in the gear rack (81) along the height direction of the gear rack (81); The tray clamping part (842) clamps the tray (85) from the gear rack (81) to be installed; the tray clamping part (842) is transferred to the gear rack (82) via the transfer slide rail (841) and the tray (85) is put down.

4. The actuator multi-stage gear assembly equipment according to claim 3, characterized in that: It further includes three sets of gear status recognition mechanisms (9); the gear status recognition mechanism (9) includes a camera module (91) set on the transport line track (31) and an illumination module (92) set on the upper surface of the workbench (1); the illumination module (92) illuminates the gears on the gear feeding mechanism (8); the camera module (91) performs status recognition on the gears on the gear feeding mechanism (8).

5. The actuator multi-stage gear assembly equipment according to claim 2 or 4, characterized in that: The gear transfer mechanism (7) includes a transfer platform (71), a transfer track (72) disposed on the transfer platform (71), and a transfer fixture (73) slidably disposed on the transfer track (72); the transfer fixture (73) has a gear angle adjustment hole (731); when the gear gripping part (32) places the gear in the gear angle adjustment hole (731), the gear angle is adjusted.

6. The actuator multi-stage gear assembly equipment according to claim 1, characterized in that: The actuator conveyor line (2) includes a conveyor rail (21), an assembly table (22) slidably disposed on the conveyor rail (21), and three lifting modules (23) sequentially disposed on the conveyor rail (21). The conveying track (21) has a first station (211), a second station (212) and a third station (213) arranged sequentially in the extension direction; the three lifting modules (23) are respectively arranged below the first station (211), the second station (212) and the third station (213); As 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 module (23) in sequence.

7. The actuator multi-stage gear assembly equipment according to claim 6, characterized in that: The lifting module (23) includes a lifting power unit (231), a lifting plate (232) disposed on the lifting power unit (231), and multiple positioning columns (233) disposed on the lifting plate (232); the assembly table (22) includes an assembly plate (221) and an actuator fixing part (222) disposed on the assembly plate (221); the assembly plate (221) has multiple positioning holes (2211); when the assembly plate (221) is lifted by the lifting plate (232), the multiple positioning columns (233) are respectively inserted into the multiple positioning holes (2211).

8. The actuator multi-stage gear assembly equipment according to claim 1, characterized in that: The primary gear assembly mechanism (4) includes a primary gantry (42), a primary transfer slide rail (43) disposed on the primary gantry (42), a primary transverse transfer module (44) slidably disposed on the primary transfer slide rail (43), and a primary longitudinal transfer module (45) slidably disposed on the primary transverse transfer module (44); the primary gear gripper (41) is disposed on the primary longitudinal transfer module (45); The secondary gear assembly mechanism (5) includes a secondary gantry (52), a secondary transfer slide rail (53) disposed on the secondary gantry (52), a secondary transverse transfer module (54) slidably disposed on the secondary transfer slide rail (53), and a secondary longitudinal transfer module (55) slidably disposed on the secondary transverse transfer module (54); the secondary gear gripper (51) is disposed on the secondary longitudinal transfer module (55).

9. The actuator multi-stage gear assembly equipment according to claim 1, characterized in that: The three-stage gear assembly mechanism (6) includes a three-stage gantry (63), a three-stage transfer slide rail (64) disposed on the three-stage gantry (63), a three-stage transverse transfer module (65) slidably disposed on the three-stage transfer slide rail (64), and a three-stage longitudinal transfer module (66) disposed on the three-stage transverse transfer module (65); the rotating part (611) and the suction part (612) are disposed on the three-stage longitudinal transfer module (66); The rotating part (611) includes a rotating power part (6111) and a rotating transmission part (6112); the suction part (612) is disposed at the lower end of the rotating transmission part (6112).

10. The actuator multi-stage gear assembly equipment according to claim 6, characterized in that: The secondary gear press-fit structure (62) includes a mounting arm (622) disposed on the conveying track (21) and an extension positioning part (623) disposed on the mounting arm (622); the secondary gear pressing part (621) is disposed at one end of the extension positioning part (623); The secondary gear pressing part (621) includes a push rod (6211) disposed in the extended positioning part (623) and an elastic member (6212) disposed between the extended positioning part (623) and the push rod (6211). When the assembly table (22) is lifted at the third station (213), the pre-assembled secondary gear compresses the elastic element (6212) upward through the push rod (6211); when the teeth of the secondary gear mesh with the teeth of the primary gear, the elastic element (6212) resets and the secondary gear is fully assembled through the push rod (6211).

Images