Automatic assembling device and method for composite speed reducer

Abstract

The invention discloses an automatic assembling device and method for a composite speed reducer, and relates to the technical field of automatic assembling of speed reducers. The device comprises a first work station, a second work station, a third work station, a PLC and a PC host, the first work station is provided with a staggered tooth gear and planet wheel assembling mechanism, and synchronous assembling of staggered tooth gears and clamping rings and synchronous assembling of planet wheels and bearings are completed; the second work station achieves efficient assembly of the composite speed reducer by adjusting gaskets, wheel shafts and spiral clamping ring assembly equipment arranged on the circumference of a rotary disc. And the third work station is integrated with gap, self-sliding performance and appearance detection equipment, and is matched with laser coding and waste material sorting, so that the traceability of the product quality is ensured. The device adopts a servo motor, a four-axis mechanical arm, a CCD detection module and other modules, has the characteristics of high precision, high efficiency and flexibility, solves the problems of low efficiency, poor consistency and the like of traditional manual assembly, and is suitable for automatic production of various types of composite speed reducers.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic assembly of reducers, in particular to an automatic assembly device and method of a composite reducer. BACKGROUND

[0002] The composite reducer requires high assembly precision due to the integration of the planetary gear train and the staggered tooth gear structure. Traditional manual assembly has problems such as low efficiency, poor consistency, and easy damage to precision components. Existing automatic equipment cannot simultaneously complete key processes such as staggered tooth correction, planetary gear bearing press-fitting, and dynamic gap detection, and a high-precision, full-process automatic assembly solution is urgently needed. SUMMARY

[0003] To achieve the above purpose, the present application provides the following technical scheme: an automatic assembly device of a composite reducer, comprising: A first work station is provided with a staggered tooth gear assembly mechanism and a planetary gear assembly mechanism; the staggered tooth assembly mechanism is provided with a staggered tooth gear feeding device, a snap ring feeding device, a gear assembly device, a correction device, a carrying device, a lubricating device and a first conveying belt, the staggered tooth gear feeding device and the snap ring feeding device are respectively linked with the correction device, the correction device is arranged between the carrying device and the staggered tooth gear feeding device, the lubricating device is arranged above the correction device, and the correction device and the first conveying belt are provided with the gear assembly device; The planetary gear assembly mechanism is provided with a planetary gear feeding device, a bearing feeding device, a bearing assembly device, a second lubricating device, a second carrying device and a second conveying belt, the planetary gear feeding device, the bearing feeding device and the bearing assembly device are linked, the second carrying device is arranged on the opposite side of the bearing assembly device, and the lubricating device is arranged between the bearing assembly device and the second conveying belt; A second work station is provided with a feeding mechanical arm, a discharging mechanical arm, an adjusting turntable, a gasket assembly device, an axle assembly device, a spiral snap ring assembly device and a third conveying belt, the feeding mechanical arm is arranged on the output end side of the second conveying belt, the adjusting turntable is arranged at the center of the circle, the gasket assembly device, the feeding mechanical arm, the axle assembly device, the spiral snap ring assembly device and the discharging mechanical arm are arranged in the order of circular periphery; The third work station is provided with a progressive feeding device, a gap detection device, a self-sliding detection device, an appearance detection device, a laser coding machine, a gap waste conveying belt, a self-sliding waste conveying belt, an appearance waste conveying belt and a third conveying belt. The progressive feeding device is opposite to the relative sides of the gap detection device, the self-sliding detection device and the appearance detection device. The gap detection device, the self-sliding detection device, the appearance detection device, the laser coding machine and the third conveying belt are arranged in sequence. The gap waste conveying belt, the self-sliding waste conveying belt and the appearance waste conveying belt are arranged at the back side of the gap detection device, the self-sliding detection device and the appearance detection device, and opposite to the progressive feeding device. A PLC and a PC host. The PLC is electrically connected with the first work station, the second work station and the third work station. The PLC is electrically connected with the PC host. The PC host is electrically connected with the laser coding machine.

[0004] As a preferred technical scheme of the present application, the carrying device and the second carrying device are both provided with a servo motor and a clamping jaw. The servo motor and the clamping jaw are connected through a linkage plate. The clamping jaw is provided with at least three clamping jaws. Each clamping jaw is arranged at the linkage plate. Each clamping jaw is in the same straight line position. The servo motor can drive each clamping jaw to move synchronously through the linkage plate.

[0005] As a preferred technical scheme of the present application, the carrying device is further provided with a turnover cylinder. The turnover cylinder is connected with the clamping jaw and corresponds to the correction device.

[0006] As a preferred technical scheme of the present application, the correction device is provided with an error-proof protrusion.

[0007] As a preferred technical scheme of the present application, the adjusting turntable is provided with a stepping motor and a jacking inclined mechanism at the bottom. A plurality of carriers are arranged in a circle with the center of the adjusting turntable as the center above the adjusting turntable. The jacking inclined mechanism is arranged on one side of the stepping motor to jack up the carrier. The carrier is provided with an elastic pressing block.

[0008] As a preferred technical scheme of the present application, a center positioning device is arranged at the center of the adjusting turntable. The feeding mechanical arm and the discharging mechanical arm are arranged as four-axis mechanical arms.

[0009] As a preferred technical scheme of the present application, the gap detection device is provided with a gap displacement sensor and an elastic pressing head. The self-sliding detection device is provided with a torque sensor and a sliding displacement sensor. The appearance detection device is arranged as a CCD device.

[0010] As a preferred technical scheme of the present application, the progressive feeding equipment is provided with a progressive cylinder and a plurality of second clamping jaws.

[0011] As a preferred technical scheme of the present application, the second clamping jaw is connected with a lifting cylinder and a telescopic cylinder.

[0012] An automatic assembling method of a composite reducer, comprising the following steps: After the assembly of the staggered gear and the snap ring is completed by the staggered gear assembling mechanism, the staggered gear is transported to the second work station by the first conveying belt; Meanwhile, after the assembly of the three-stage planetary wheel and the bearing is completed by the planetary wheel assembling mechanism, the three-stage planetary wheel is transported to the second work station by the second conveying belt; After the gasket installation of the planetary carrier is completed by the gasket assembling equipment, the three-stage planetary wheel is clamped to the adjusting turntable by the feeding mechanical arm, the assembly of the planetary carrier and the staggered gear and the three-stage planetary wheel is completed by the wheel shaft assembling equipment, the assembly of the helical snap ring is completed by the helical snap ring assembling equipment, and the installation of the composite reducer is completed, the composite reducer is clamped to the third work station by the discharging mechanical arm; The composite reducer is detected by the gap detection equipment, the self-sliding detection equipment and the appearance detection equipment to realize quality inspection, if there is a defect, the composite reducer is transported to the gap waste conveying belt, the self-sliding waste conveying belt and the appearance waste conveying belt according to different defects, if there is no defect, the composite reducer is transported to the laser coding machine to code the composite planetary reducer, and then the discharging is completed by the third conveying belt.

[0013] Compared with the prior art, the present application provides an automatic assembling device and method of a composite reducer, which has the following beneficial effects: the present application adopts a three-station parallel layout, the staggered gear and the planetary wheel are assembled at the same time, the installation of the gasket, the wheel shaft and the snap ring is completed in a circle, the efficiency is doubled, the staggered correction, the precise press fitting, the dynamic gap and the self-sliding detection ensure high precision and consistency of each product, the PLC+PC closed-loop control collects the press fitting, the gap and the torque data in real time and codes by laser, realizes the whole process traceability, the elastic pressing block, the center positioning and the modular design are compatible with multiple models, the upgrading and maintenance are convenient, the four-axis mechanical arm, the progressive feeding and the automatic sorting of waste realize the whole process unmanned, significantly reduce the labor intensity, and have flexibility, intelligence and economy. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 The figure is a structural schematic diagram of the present application; Figure 2 The figure is a structural schematic diagram of the first work station of the present application; Figure 3 The figure is a structural schematic diagram of the second work station of the present application; Figure 4 The figure is a structural schematic diagram of the third work station of the present application; Figure 5 Structure diagram of the cogwheel assembly mechanism of the present application; Figure 6 The error-proof protrusion of the present application; Figure 7 The clip-type snap ring feeding equipment of the present application; Figure 8 Structure diagram of the planetary gear assembly mechanism of the present application; Figure 9 Structure diagram of the adjusting turntable of the present application; Figure 10 The gasket assembly equipment of the present application; Figure 11 Structure diagram of the feeding mechanical arm of the present application; Figure 12 Structure diagram of the spiral snap ring assembly equipment of the present application; Figure 13 Structure diagram of the progressive feeding equipment of the present application; Figure 14 Structure diagram of the gap detection equipment of the present application; Figure 15 Structure diagram of the self-sliding detection equipment of the present application; Figure 16 Structure diagram of the appearance detection equipment of the present application; Figure 17 Structure diagram of the laser coding machine of the present application; In the figure: 1, first work station; 11, cogwheel assembly mechanism; 101, cogwheel feeding equipment; 102, snap ring feeding equipment; 103, gear assembly equipment; 104, correction equipment; 105, carrying equipment; 106, grease coating equipment; 107, first conveying belt; 12, planetary gear assembly mechanism; 121, planetary gear feeding equipment; 122, bearing feeding equipment; 123, bearing assembly equipment; 124, second grease coating equipment; 125, second carrying equipment; 126, second conveying belt; 2, second work station, 201, feeding mechanical arm; 202, discharging mechanical arm; 203, adjusting turntable; 204, gasket assembly equipment; 205, wheel shaft assembly equipment; 206, spiral snap ring assembly equipment; 3, third work station; 301, progressive feeding equipment; 302, gap detection equipment; 303, self-sliding detection equipment; 304, appearance detection equipment; 305, laser coding machine; 306, gap waste conveying belt; 307, self-sliding waste conveying belt; 308, appearance waste conveying belt; 309, third conveying belt. DETAILED DESCRIPTION

[0015] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0016] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0017] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0018] An automatic assembly device for a composite reducer, as shown in Figures 1-4 The first work station 1 is used to assemble the staggered gear and the snap ring, at the same time, the three-stage planetary wheel bearing is assembled into the inner hole of the three-stage planetary wheel and transported to the second work station 2. The second work station 2 assembles the gasket in the three-stage planet carrier, then installs the staggered gear and the three-stage planetary wheel into the three-stage planet carrier, and then assembles the spiral snap ring, completes the installation of the three-stage reducer (composite reducer) and transports it to the third work station 3. The third work station 3 detects the gap, self-sliding property and appearance of the three-stage reducer, and the flawless equipment is discharged after coding.

[0019] In the present embodiment, PLC and PC host are provided, the PLC is electrically connected with the first work station 1, the second work station 2 and the third work station 3 respectively, the PLC is electrically connected with the PC host, the PC host is electrically connected with the laser coding machine 305, all sensors and equipment of the first work station 1, the second work station 2 and the third work station 3 can be controlled through the PC host and the PLC, at the same time, the PC host can preset the shape of the code, and different codes are set according to each completed three-stage planetary reducer.

[0020] Further, as shown inFigures 5-7 As shown, the first station 1 is provided with a staggered gear assembly mechanism 11 and a planetary gear assembly mechanism 12, wherein the staggered gear assembly mechanism 11 is provided with a staggered gear feeding device 101, in which a rack is provided, and the top surface of the rack is provided with a rotatable disc, and a plurality of vertical rods are arranged around the center of the disc and at the side edges of the disc, and a plurality of staggered ring gears (staggered gears) are arranged at the vertical rods, and a step lifting machine is arranged below the rack corresponding to the positions of the vertical rods, and the relative positions of the staggered gears on the vertical rods are adjusted by the step lifting machine.

[0021] Further, the staggered gear feeding device 101 is provided with a lifting rack, and the lifting rack is vertically moved by a lifting belt driven by a cylinder, and a cylinder is further arranged on the lifting rack, and the output end of the cylinder is connected with a mechanical claw, and the mechanical claw is horizontally moved, and the mechanical claw can grab the staggered gears at the vertical rods and place them on a staggered gear conveying belt, and the staggered gears are conveyed to a correction device 104 through the staggered gear conveying belt.

[0022] Further, the snap ring feeding device is provided with a rack, a snap ring bin, a cylinder and a rebound placement plate, the snap ring bin is arranged on the rack, the opening of the snap ring bin is downwardly arranged and placed at one end of the rebound placement plate, the cylinder is arranged at one end of the rack, and the output end of the cylinder can drive the rebound placement plate to move after output, at this moment, the snap ring is taken out from the rebound placement plate to the staggered gear conveying belt, and the snap ring is placed on the staggered gears by the mechanical claw, and then the staggered gear is clamped to the correction device 104 after assembly.

[0023] Further, the conveying device 105 is provided with a servo conveying motor, which moves linearly towards the gear assembly device 103, and the servo conveying motor is connected with clamping claws through a linkage plate, and the clamping claws are arranged in two groups in this embodiment, and the clamping claws arranged at the correction device 104 are provided with a turnover cylinder, when the assembled staggered gear is conveyed to the correction device 104, the clamping claws with the turnover cylinder clamp the staggered gear to complete 180° turning and are fixed at the correction device 104; the correction device 104 is provided with an error-proof protrusion, which is used for corresponding to the notch of the snap ring and can be clamped with the snap ring; the grease coating device 106 is arranged above the correction device 104 to coat grease on the turned staggered gear; after the grease coating is completed, the servo conveying motor drives the two groups of clamping claws to move synchronously, and the staggered gear is conveyed to the gear assembly device 103.

[0024] Further, the gear assembly device 103 completes the assembly of the staggered gear and the snap ring by pressing down, and the servo conveying motor is started to convey the staggered gear to the first conveying belt 107 for assembly and conveying through the clamping claws synchronously.

[0025] As Figure 8As shown, the planetary gear assembly mechanism 12 is provided with a planetary gear feeding device 121, a bearing feeding device 122, a bearing assembly device 123, a second lubricating device 124, a second conveying device 125 and a second conveying belt 126; wherein the planetary gear feeding device 121 lifts the planetary gear through a step lifting machine, and then transports it to the output end of the conveying belt through a mechanical claw, while the bearing is transported to the output end of the bearing sorting disc through the bearing sorting disc, and then clamped into the planetary gear through two pairs of synchronously operated clamps, which are linearly moved to clamp the planetary gear and the bearing to the bearing assembly device 123, the bearing assembly device 123 presses the bearing into the planetary gear, and then the completed planetary gear is transported to the lower side of the second lubricating device 124 through a second set of two pairs of synchronously operated clamps to complete the lubrication, and then transported to the second conveying belt 126 through a second set of two pairs of synchronously operated clamps.

[0026] As shown, Figures 9-12 The second work station 2 is provided with a feeding mechanical arm 201, a discharging mechanical arm 202, an adjusting turntable 203, a gasket assembly device 204, an axle assembly device 205, a spiral clasp assembly device 206 and a third conveying belt 207, and the feeding mechanical arm 201 is arranged at the output end side of the second conveying belt 126; each device of the second work station 2 is arranged at the outer circle of the adjusting turntable 203 with the center of the adjusting turntable 203 as the center, and arranged in the order of the gasket assembly device 204, the feeding mechanical arm 201, the axle assembly device 205, the spiral clasp assembly device 206 and the discharging mechanical arm 202 in the circumferential direction.

[0027] Further, a step motor and a lifting inclined mechanism are arranged at the bottom of the adjusting turntable 203, and a plurality of carriers are arranged in the circumferential direction above the adjusting turntable 203 with the center of the adjusting turntable as the center; the lifting inclined mechanism is arranged at one side of the step motor for lifting the carriers, and the carriers are provided with elastic blocks; the step motor can drive the adjusting turntable 203 to rotate, the lifting inclined mechanism can lift the elastic blocks of the carriers to facilitate the device to grab the planetary carrier placed in the carrier, and the lifting inclined mechanism can press the planetary carrier when the elastic blocks are retracted, so that the stability of the planetary carrier can be ensured when the planetary carrier is transported by the carrier.

[0028] Further, the gasket assembly device 204 is used for installing the gasket of the planetary carrier, the gasket is automatically fed by a spring clamp type stock bin, one gasket is pushed out by a distributing cylinder, and then the gasket is taken out by a lifting cylinder and assembled into the planetary carrier; in this embodiment, the feeding mechanical arm 201 and the discharging mechanical arm 202 are four-axis mechanical arms, which take the wrong tooth gear assembly from the first conveying belt 107, take the three-stage planetary gear assembly from the second conveying belt 126, and then position the carriers; a center positioning mechanism limits the four groups of wheels to avoid the position deviation of the four groups of wheels due to the rotation of the turntable, which may affect the next axle assembly, the limiting head of the center positioning mechanism rotates to the axle assembly station with the carrier, and then returns to the original position.

[0029] Further, after the planetary carrier is transported to rotate to the wheel shaft assembly device 205, the downward cylinder of the wheel shaft assembly device 205 drives the guide plate to descend to the upper surface of the planetary carrier (limit position), the guide cone below the guide plate guides the cogwheel and the planetary gear, the distribution cylinder pushes a unit wheel shaft to the guide hole position of the guide plate, and the assembly cylinder above drives the pressure head to assemble the wheel shaft into the planetary gear, the cogwheel and the hole of the planetary carrier.

[0030] Further, after the spiral clasp is taken by the spiral clasp assembly device 206, the assembly cylinder of the spiral clasp assembly device 206 drives the pressure head to compress the winding in the guide mold, and then the spiral clasp is assembled into the planetary carrier of the assembled wheel shaft to form a composite reducer.

[0031] Further, the blanking mechanical arm 202 grabs the composite reducer into the detection carrier of the third work station 3.

[0032] As shown in Figures 13-17 The third work station 3 is provided with a progressive feeding device 301, which is provided with a plurality of telescopic clamping jaws, including four groups in this embodiment, each group is horizontally and symmetrically provided with two clamping jaws, and can realize synchronous linear motion through a progressive cylinder. The first group is used for clamping the composite reducer in the detection carrier, and the composite reducer is transported to below the gap detection device 302. The second group is provided with two telescopic clamping jaws and is arranged below the self-sliding detection device 303. The third group is arranged below the appearance detection device 304 and is used for detecting the appearance of the composite reducer. The fourth group is arranged below the laser coding machine 305 and is used for clamping and transporting the composite planetary reducer after laser coding to complete the detection to the third conveying belt 309 to complete the blanking.

[0033] Specifically, the gap detection device 302 is provided with an elastic pressure head, which is fixed by driving the elastic pressure head to press the composite reducer tightly through a downward cylinder. The detection cylinder drives the laser displacement sensor to detect the gap between the planetary carrier and the planetary gear. If there is a defect, the telescopic clamping jaw will linearly transport the defective product to the gap waste conveying belt 306, and the displacement sensor outputs real-time data, which realizes real-time communication with the PLC, PC host and laser coding machine. If there is no defect, it is progressed to the next detection.

[0034] Specifically, the self-sliding detection device 303 is provided with a torque sensor and a displacement sensor. The lifting cylinder of the self-sliding detection device 303 drives the sun gear (the mechanism is an elastic pressing mechanism) to slowly creep and correct on the planetary gear plane, and the position monitoring sensor monitors. After reaching the position, the servo motor starts to change speed and operates at a specified speed. The dynamic torque sensor detects the rotating torque of the product. During the detection process, the self-sliding property of the product is judged according to the output real-time torque, and real-time data is output. The PLC, PC host, and laser marking machine communicate in real time. If there is a defect, the defective product is transported linearly to the self-sliding waste conveyor belt 307 through the telescopic gripper. If there is no defect, it is forwarded to the next detection.

[0035] Specifically, the appearance detection device 304 is set as a CCD camera, which shoots real-time images and outputs real-time data, and communicates with the PLC, PC host, and laser marking machine in real time. If there is a defect, the defective product is transported linearly to the appearance waste conveyor belt 308 through the telescopic gripper. If there is no defect, it is forwarded to the next detection.

[0036] The defect-free product passes through the laser marking machine 305. The laser marking machine 305 receives real-time data from each station, communicates with the PLC and PC, generates compression force value, punching force value, gap value, and self-sliding torque value when marking. After completion, it is forwarded and transported to the third conveyor belt 309 through the telescopic gripper to complete the discharging.

[0037] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic assembling device of a compound reducer, characterized by comprising: The utility model relates to a kind of gear wheel assembly line, including: First work station (1), the first work station (1) is provided with staggered gear assembly mechanism (11) and planetary gear assembly mechanism (12);The staggered assembly mechanism (11) is provided with staggered gear wheel feeding equipment (101), snap ring feeding equipment (102), gear assembly equipment (103), correction equipment (104), carrying equipment (105), grease equipment (106) and first conveying belt (107), the staggered gear wheel feeding equipment (101), the snap ring feeding equipment (102) respectively with the correction equipment (104) linkage setting, the correction equipment (104) is arranged between the carrying equipment (105) and the staggered gear wheel feeding equipment (101), the correction equipment (104) is provided with the grease equipment (106) above, the correction equipment (104) and the first conveying belt (107) between gear assembly equipment (103) are provided with; The planetary gear assembly mechanism (12) is provided with planetary gear feeding equipment (121), bearing feeding equipment (122), bearing assembly equipment (123), second grease equipment (124), second carrying equipment (125) and second conveying belt (126), the planetary gear feeding equipment (121), the bearing feeding equipment (122) and the bearing assembly equipment (123) linkage, the second carrying equipment (125) is arranged in the opposite side of bearing assembly equipment (123), the second grease equipment (124) is arranged between bearing assembly equipment (123) and second conveying belt (126); Second work station (2), the second work station (2) is provided with feeding mechanical arm (201), discharging mechanical arm (202), adjusting turntable (203), gasket assembly equipment (204), axle assembly equipment (205), helical snap ring assembly equipment (206), the feeding mechanical arm (201) is arranged in the output end side of second conveying belt (126), with the center of adjusting turntable (203) as center, be arranged in the outer ring of adjusting turntable (203), with the gasket assembly equipment (204), the feeding mechanical arm (201), the axle assembly equipment (205), the helical snap ring assembly equipment (206), the discharging mechanical arm (202) in sequence circumferential arrangement. The third work station (3) is provided with a progressive feeding device (301), a gap detection device (302), a self-sliding detection device (303), an appearance detection device (304), a laser coding machine (305), a gap waste conveying belt (306), a self-sliding waste conveying belt (307), an appearance waste conveying belt (308), and a third conveying belt (309). The progressive feeding device (301) is opposite to the relative sides of the gap detection device (302), the self-sliding detection device (307), and the appearance detection device (308). The gap detection device (302), the self-sliding detection device (303), the appearance detection device (304), the laser coding machine (305), and the third conveying belt (309) are arranged in sequence. The gap waste conveying belt (306), the self-sliding waste conveying belt (307), and the appearance waste conveying belt (308) are arranged at the back sides of the gap detection device (302), the self-sliding detection device (303), and the appearance detection device (304) and opposite to the progressive feeding device (301). A PLC and a PC host are electrically connected with the first work station (1), the second work station (2), and the third work station (3). The PLC is electrically connected with the PC host. The PC host is electrically connected with the laser coding machine (305).

2. The automatic assembly device for a composite reducer according to claim 1, wherein: the carrying device (105) and the second carrying device (125) are each provided with a servo motor and a gripper, the servo motor and the gripper are connected through a linkage plate, the gripper is provided with at least three, each gripper is arranged at the linkage plate, each gripper is in the same straight line position, and the servo motor can drive each gripper to move synchronously through the linkage plate.

3. The automatic assembly device for a composite reducer according to claim 2, wherein: the carrying device (105) is further provided with a turnover cylinder, the turnover cylinder is connected with the gripper and corresponds to the correction device.

4. The automatic assembly device for a composite reducer according to claim 3, wherein: the correction device is provided with an error-proof protrusion.

5. The automatic assembly device for a composite reducer according to claim 1, wherein: the adjusting turntable (203) is provided at the bottom with a stepping motor and a jacking inclined mechanism, a plurality of carriers are arranged in a circle with the center of the adjusting turntable as the center above the adjusting turntable, the jacking inclined mechanism is arranged on one side of the stepping motor for jacking the carriers, and the carriers are provided with elastic blocks.

6. The automatic assembly device for a composite reducer according to claim 5, wherein: a center positioning device is arranged at the center of the adjusting turntable (203), and the feeding mechanical arm (201) and the discharging mechanical arm (202) are four-axis mechanical arms. ​ ​ ​ ​ ​ 7. The automatic assembly device of a composite reducer according to claim 1, characterized in that: The gap detection device (302) is provided with a gap displacement sensor and an elastic pressure head, the self-sliding detection device (303) is provided with a torque sensor and a sliding displacement sensor, and the appearance detection device (304) is a CCD device.

8. The automatic assembly device of a composite reducer according to claim 7, characterized in that: The progressive feeding device (301) is provided with a progressive cylinder and a plurality of second clamping jaws.

9. The automatic assembly device of a composite reducer according to claim 8, characterized in that: The second clamping jaws are connected with a lifting cylinder and a telescopic cylinder.

10. An automatic assembling method of a compound reducer, characterized by, The automatic assembly method of the composite reducer is applied to the automatic assembly device of the composite reducer according to claim 1, and the automatic assembly method of the composite reducer comprises: After the assembly of the staggered gear and the snap ring is completed by the staggered gear assembly mechanism (11), the staggered gear is transported to the second work station (22) by the first conveying belt (107); At the same time, after the assembly of the three-stage planetary gear and the bearing is completed by the planetary gear assembly mechanism (12), the planetary gear is transported to the second work station (2) by the second conveying belt (126); The adjusting turntable (203) rotates clockwise, sequentially passes through the gasket assembly device (204) to complete the gasket installation of the planet carrier, the three-stage planetary gear and the staggered gear are clamped to the adjusting turntable (203) by the feeding mechanical arm (201), the planet carrier, the staggered gear and the three-stage planetary gear are assembled by the wheel shaft assembly device (205), the assembly of the composite reducer is completed by the spiral snap ring assembly device (206), and the composite reducer is clamped to the third work station (3) by the discharging mechanical arm (202); The composite reducer is detected by the gap detection device (302), the self-sliding detection device (303) and the appearance detection device (304) to realize quality inspection, if there is a defect, the composite reducer is transported to the gap waste conveying belt (306), the self-sliding waste conveying belt (307) and the appearance waste conveying belt (308) according to different defects; if there is no defect, the composite reducer is transported to the laser coding machine (305) to code the composite planetary reducer, and then the discharging is completed by the third conveying belt (309).

Images