Automatic assembly device and method for a planetary reducer

Abstract

The application discloses an automatic assembling device and method for a planetary reducer, and belongs to the technical field of automatic assembling. The device comprises a planetary wheel bearing assembling mechanism, a planet carrier assembling and punching and riveting mechanism, a performance detection mechanism, and a PLC and a PC host, realizes automatic press fitting and lubricating of the planetary wheel and the bearing, automatic assembling and punching and riveting of the planet carrier and the planetary wheel, and completes three performance detections of clearance, self-sliding and appearance and laser coding. The device adopts synchronous operation of multiple carriers, rotary table type station switching, servo carrying and floating positioning structure, and ensures assembling precision; key processes are equipped with pressure, displacement and torque sensors, and realize force value and quality closed-loop control. The method realizes full-process automation of "feeding, assembling, detecting, coding and discharging" through cooperative control of the PLC and the PC host, significantly shortens single-piece beat, greatly improves assembling consistency and reliability, and is suitable for high-precision batch production of primary planetary reducers.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, and specifically to an automated assembly device and method for planetary reducers. Background Technology

[0002] As a precision transmission device, the assembly quality of a planetary gear reducer directly affects its lifespan and operational stability. Traditional assembly relies on manual, step-by-step operations, which presents the following problems: Processes such as bearing press fitting and planetary gear shaft riveting require precise control of force values, and manual operation is prone to exceeding tolerances; multi-station operation leads to cycle delays, and the assembly time for a single part exceeds 15 minutes; key parameters such as clearance and self-slip torque lack fully automated detection closed loop.

[0003] Therefore, there is an urgent need for a high-precision, fully automated assembly solution. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automatic assembly device for a planetary reducer, comprising: The planetary gear bearing assembly mechanism includes a planetary gear hopper, a planetary gear feeding device, a bearing vibratory feeder, a bearing feeding device, a bearing assembly device, a first carrier, a grease application device, and a first conveyor belt. The planetary gear hopper is located below the planetary gear feeding device, the bearing vibratory feeder is located on one side of the bearing feeding device, several first carriers are provided and located below the bearing assembly device, each first carrier is arranged horizontally in a straight line and docks with the first conveyor belt, and the grease application device is provided between the bearing assembly device and the first conveyor belt. The planetary carrier assembly and riveting mechanism includes an adjusting turntable, a second conveyor belt, a planetary carrier loading device, a planetary gear assembly device, a planetary gear shaft assembly device, a riveting device, and a unloading device. The adjusting turntable is circular, and several second carriers are arranged circumferentially around its center. The planetary carrier loading device is located at the output end of the second conveyor belt, and the planetary gear assembly device is located at the output end of the first conveyor belt. The planetary carrier loading device, the planetary gear assembly device, the planetary gear shaft assembly device, the riveting device, and the unloading device are arranged sequentially in a clockwise direction around the center of the adjusting turntable. The performance testing mechanism includes a second bearing assembly device, a flipping device, a progressive device, a gap detection device, a gap waste material unloading conveyor belt, a self-slip detection device, a self-slip waste material unloading conveyor belt, an appearance inspection device, an appearance waste material unloading conveyor belt, a laser marking machine, and a third conveyor belt. The second bearing assembly device is connected to the output end of the unloading device. The flipping mechanism is equipped with several grippers located below the second bearing assembly device, and the grippers are arranged horizontally along a straight line. The gap detection device, the self-slip detection device, and the appearance inspection device are arranged sequentially along a straight line above the grippers. The gap waste material unloading conveyor belt is located on the adjacent side of the gap detection device, the self-slip waste material unloading conveyor belt is located on the adjacent side of the self-slip detection device, and the appearance waste material unloading conveyor belt is located on the adjacent side of the appearance inspection device. The gap waste material unloading conveyor belt, the self-slip waste material unloading conveyor belt, and the appearance waste material unloading conveyor belt are all positioned relative to the grippers. The laser marking machine is located between the appearance waste material unloading conveyor belt and the third conveyor belt. The PLC is electrically connected to the planetary gear bearing assembly mechanism, the planetary carrier assembly and riveting mechanism, and the performance testing mechanism. The PLC is also electrically connected to the PC host, which is in turn electrically connected to the laser marking machine.

[0005] As a preferred embodiment of the present invention, the bottom of the planetary gear storage is provided with a stepping jack, which is used to lift the planetary gears to connect with the planetary gear loading equipment; at least three first carriers are provided, which are respectively used to receive planetary gears, assemble bearings, and apply bearing grease; the bottom of the first carrier used for applying bearing grease is provided with a grease application rotating motor.

[0006] As a preferred embodiment of the present invention, the bearing assembly equipment is equipped with an assembly cylinder and a pressure sensor, and the pressure sensor is electrically connected to the PLC.

[0007] As a preferred embodiment of the present invention, a material distribution plate is provided at the output end of the first conveyor belt, and a material distribution plate rotation motor is provided at the bottom of the material distribution plate.

[0008] As a preferred embodiment of the present invention, the planetary carrier loading device is equipped with an angle correction sensor, and the second conveyor belt is equipped with an error prevention sensor.

[0009] As a preferred embodiment of the present invention, the bottom of the adjusting turntable is provided with an adjusting rotating motor and a lifting inclined wedge. The adjusting rotating motor is located at the bottom center of the adjusting turntable and is used to drive the adjusting turntable to rotate. The lifting inclined wedge is located on one side of the planetary gear assembly equipment and is used to lift the second carrier. The second carrier is provided with an elastic pressure block.

[0010] As a preferred embodiment of the present invention, the planetary gear shaft assembly equipment is provided with a floating positioning rod; the riveting equipment is provided with a riveting pressure sensor, and the riveting pressure sensor is electrically connected to the PLC.

[0011] As a preferred embodiment of the present invention, the gripper includes a flipping gripper and a telescopic gripper.

[0012] As a preferred embodiment of the present invention, the gap detection device is equipped with a gap displacement sensor and an elastic pressure head, the self-slip detection device is equipped with a torque sensor and a sliding displacement sensor, and the appearance inspection device is configured as a CDD device.

[0013] As a preferred embodiment of the present invention, an automatic assembly method for a planetary reducer includes: The planetary gear feeding equipment clamps and transports the planetary gears from the planetary gear storage to the first carrier. The bearing feeding equipment clamps and transports the bearings from the bearing vibratory plate to the inner hole of the planetary gear in the first carrier. The bearing assembly equipment presses the bearings into the inner hole of the planetary gear, applies grease through the grease application equipment, and then transports the greased planetary gear to the first conveyor belt. The first conveyor belt transports planetary gears to the planetary gear assembly equipment, while the second conveyor belt transports planetary carriers to the planetary carrier loading equipment to load the planetary carriers onto the second carrier. The planetary carriers and planetary gears on the second carrier are then assembled using the planetary gear shaft assembly equipment. After assembly, the planetary carriers are transported to the riveting equipment for riveting. After riveting, the planetary carriers are transported to the unloading equipment. The planetary gears that have completed the stamping and riveting are transported progressively to the second bearing assembly equipment via a flipping device to complete bearing assembly, forming a first-stage planetary reducer. After that, they undergo quality inspection by a clearance detection device, a self-slip detection device, and an appearance inspection device. If there are defects, the first-stage planetary reducer is transported to the clearance waste unloading conveyor belt, the self-slip waste unloading conveyor belt, and the appearance waste unloading conveyor belt, respectively, according to the different defects. If there are no defects, it is transported to the laser marking machine for marking the first-stage planetary reducer, and then unloaded via the third conveyor belt.

[0014] Compared with the prior art, the present invention provides an automatic assembly device and method for planetary reducers, which has the following beneficial effects: The three interconnected mechanisms enable zero human intervention in the "assembly-inspection-coding" process, achieving full automation. Key processes achieve ultra-low assembly force errors, significantly improving force control accuracy compared to existing technologies. Triple inspection is provided to achieve a closed-loop quality system. The assembly efficiency of this device is greatly improved within the same time frame, resulting in a doubling of efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the planetary gear bearing assembly mechanism of the present invention; Figure 3 This is a schematic diagram of the planetary carrier assembly and riveting mechanism of the present invention; Figure 4 This is a schematic diagram of the performance testing mechanism of the present invention; Figure 5 This is a schematic diagram of the planetary gear feeding device of the present invention; Figure 6 This is a schematic diagram of the bearing feeding device of the present invention; Figure 7 This is a schematic diagram of the bearing assembly equipment of the present invention; Figure 8 This is a schematic diagram of the material distribution disc structure of the present invention; Figure 9 This is a schematic diagram of the coating equipment of the present invention; Figure 10 This is a schematic diagram of the planetary carrier loading device of the present invention; Figure 11 This is a schematic diagram of the planetary gear assembly equipment of the present invention; Figure 12 This is a schematic diagram of the lifting inclined wedge mechanism of the present invention; Figure 13 This is a schematic diagram of the planetary gear shaft assembly equipment of the present invention; Figure 14 This is a schematic diagram of the stamping and riveting equipment of the present invention; Figure 15 This is a schematic diagram of the structure of the second bearing assembly equipment of the present invention; Figure 16 This is a schematic diagram of the flipping device structure of the present invention; Figure 17 This is a schematic diagram of the gap detection device of the present invention; Figure 18 This is a schematic diagram of the self-slip detection device of the present invention; Figure 19 This is a schematic diagram of the appearance inspection equipment of the present invention; Figure 20 This is a schematic diagram of the laser marking machine structure of the present invention; In the diagram: 1. Planetary gear bearing assembly mechanism; 11. Planetary gear storage bin; 12. Planetary gear feeding equipment; 13. Bearing vibratory feeder; 14. Bearing feeding equipment; 15. Bearing assembly equipment; 16. First carrier; 17. Grease application equipment; 18. First conveyor belt; 111. Stepping jack; 151. Assembly cylinder; 161. Grease application rotary motor; 181. Distribution plate; 182. Distribution plate rotary motor; 2. Planetary carrier assembly and riveting mechanism; 21. Adjusting turntable; 22. Second conveyor belt; 23. Planetary carrier feeding equipment; 24. Planetary gear assembly equipment 25. Planetary gear shaft assembly equipment; 26. Stamping and riveting equipment; 27. Material cutting equipment; 28. Second carrier; 211. Adjusting rotary motor; 212. Lifting inclined wedge; 251. Floating positioning rod; 281. Elastic pressure block; 3. Performance testing mechanism; 31. Second bearing assembly equipment; 32. Tilting equipment; 33. Progressing equipment; 34. Gap testing equipment; 35. Self-slip testing equipment; 36. Appearance inspection equipment; 37. Laser marking machine; 38. Third conveyor belt; 321. Tilting gripper; 322. Telescopic gripper; 341. Elastic pressure head. Detailed Implementation

[0016] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0019] This embodiment provides an automatic assembly device for a planetary reducer, such as... Figure 1 As shown, the device mainly includes a planetary gear bearing assembly mechanism 1, a planetary carrier assembly and riveting mechanism 2, and a performance testing mechanism 3. In this embodiment, the device can automatically assemble the first-stage reducer assembly. The planetary gear bearing assembly mechanism 1 can press the bearing into the inner hole of the first-stage planetary gear. Simultaneously, the first-stage planetary carrier-second-stage sun gear welding assembly and the pressed-on first-stage planetary gear are transported to the planetary carrier assembly and riveting mechanism 2. The three sets of pressed-on first-stage planetary gears are installed with the first-stage planetary carrier-second-stage sun gear welding assembly and end face riveting is performed. After the riveting is completed, the first-stage planetary carrier-second-stage sun gear welding assembly is transported to the performance testing mechanism 3. The bearing is pressed to complete the automatic assembly of the first-stage reducer assembly. After the pressing is completed, the clearance detection, self-slip detection, and appearance inspection of the planetary gears are performed automatically in sequence. If there are defects, the defective first-stage reducer assembly is placed at the corresponding unloading conveyor belt. The defect-free first-stage reducer assembly is laser-marked and unloaded after marking. In this embodiment, a PLC and a PC host are provided. The PLC is electrically connected to the planetary gear bearing assembly mechanism 1, the planetary carrier assembly and riveting mechanism 2, and the performance testing mechanism 3. The PLC is also electrically connected to the PC host, which is electrically connected to the laser marking machine 37. Through the PC host and the PLC, all sensors and devices of the planetary gear bearing assembly mechanism 1, the planetary carrier assembly and riveting mechanism 2, and the performance testing mechanism 3 can be controlled. At the same time, the PC host can preset the shape of the code and set different codes according to each completed first-stage planetary reducer.

[0020] An automated assembly method for a planetary reducer includes the following steps: Planetary gear feeding device 12 clamps and transports the planetary gears at planetary gear storage 11 to the first carrier 16. Bearing feeding device 14 clamps and transports the bearings at bearing vibratory plate 13 to the inner hole of the planetary gears in the first carrier 16. Bearing assembly device 15 presses the bearings into the inner hole of the planetary gears and then applies grease through grease application device 17. The greased planetary gears are then transported to the first conveyor belt 18. The first conveyor belt 18 transports the planetary gears to the planetary gear assembly equipment 24, while the second conveyor belt 22 transports the planetary carriers to the planetary carrier loading equipment 23 to load the planetary carriers onto the second carrier 28. The planetary carriers and planetary gears on the second carriers are assembled by the planetary gear shaft assembly equipment 25. After assembly, the planetary carriers are transported to the riveting equipment 26 for riveting. After riveting, the planetary carriers are transported to the unloading equipment 27. The planetary gears that have been riveted are transported to the second bearing assembly equipment 31 via the flipping device 32 to complete the bearing assembly, forming a first-stage planetary reducer. After that, they undergo quality inspection by the gap detection device 34, the self-slip detection device 35, and the appearance inspection device 36. If there are defects, the first-stage planetary reducer is transported to the gap waste unloading conveyor belt, the self-slip waste unloading conveyor belt, and the appearance waste unloading conveyor belt according to the different defects. If there are no defects, it is transported to the laser marking machine 37 for marking the first-stage planetary reducer, and then unloaded via the third conveyor belt 38.

[0021] The planetary gear bearing assembly mechanism 1 is equipped with a planetary gear storage 11, which is mounted on a frame. A rotatable disc is mounted on the top surface of the frame, and several vertical rods are arranged around the center of the disc. Several first-stage planetary gears are placed on the rods. A stepping jack 111 is mounted at the bottom of the frame. The stepping jack 111 is used to lift the vertical rods so that the first-stage planetary gears placed on the vertical rods are always kept at a distance from the planetary gear feeding device 12 for easy material retrieval. The planetary gear feeding device 12 is mounted above the planetary gear storage 11. The planetary gear feeding device is equipped with planetary gear picking grippers. After picking up the first-stage planetary gear, the planetary gear picking grippers can be moved horizontally by a cylinder to transport the first-stage planetary gear to the first carrier 16.

[0022] Specifically, the planetary gear bearing assembly mechanism 1 is provided with a bearing vibratory feeder 13 and a bearing feeding device 14. In this embodiment, the bearing vibratory feeder 13 is a primary bearing vibratory feeder. The bearing feeding device 14 is provided at the output end of the bearing vibratory feeder 13. The bearing feeding device 14 is provided with a bearing picking gripper. After picking up the bearing, the bearing picking gripper can move horizontally by a cylinder.

[0023] Specifically, in this embodiment, three sets of first carriers 16 are provided. The three sets of first carriers 16 are symmetrical and arranged along a straight line. The first carriers 16 are used to receive planetary gears, assemble bearings, and apply bearing grease. The first carrier 16 for assembling bearings is located below the bearing assembly equipment 15, the first carrier 16 for receiving planetary gears is located to the left of the first carrier 16 for assembling bearings, and the first carrier 16 for applying bearing grease is located to the right of the first carrier 16 for assembling bearings. After the first-stage planetary gear is placed in the first carrier 16, the bearing pick-up chuck places the bearing in the inner hole of the first-stage planetary gear.

[0024] Specifically, the bearing assembly equipment 15 is equipped with an assembly cylinder 151, and a pressure sensor is installed at the assembly cylinder 151. The pressure sensor is used to control the downward pressure of the assembly cylinder, which presses the bearing into the inner hole of the first-stage planetary gear. A grease applicator 17 is located on the right side of the bearing assembly equipment 15, above the first carrier 16 for bearing grease application. The grease applicator 17 can quantitatively extrude grease. A grease applicator motor is located below the first carrier 16 for bearing grease application. The rotation of the grease applicator motor drives the first-stage planetary gear, after press-fitting, to rotate, achieving all-around grease application.

[0025] Specifically, a servo conveying device is provided between the bearing assembly equipment 15 and the first carrier 16. The servo conveying device is equipped with the same number of robotic claws as the first carrier 16. In this embodiment, three sets of robotic claws corresponding to the first carrier 16 are provided. The three sets of corresponding robotic claws move synchronously and can simultaneously grip the first-stage planetary gears in three different states located above the first carrier 16 and move them in a straight line toward the first conveyor belt 18. This allows the bearing placement, pressing, greasing, and transportation to be carried out simultaneously, greatly improving work efficiency and eliminating the need for manual intervention.

[0026] Specifically, a distribution plate 181 is provided at the output end of the first conveyor belt 18. The distribution plate 181 is circular. A distribution plate rotating motor 182 is provided at the bottom center of the distribution plate 181. The distribution plate 181 can accept one first-stage planetary gear that has completed press-fitting and grease application every 60° rotation of the distribution plate rotating motor 182. In this embodiment, the distribution plate 181 can receive up to 3 sets of first-stage planetary gears that have completed press-fitting and grease application for subsequent steps.

[0027] The planetary carrier assembly and riveting structure 2 is equipped with an adjusting turntable 21, a second conveyor belt 22, a planetary carrier loading device 23, a planetary gear assembly device 24, a planetary gear shaft assembly device 25, a riveting device 26, and a unloading device 27. The adjusting turntable 21 is circular, and several second carriers 28 are arranged in a circle around the center of the adjusting turntable 21. The planetary carrier loading device 23 is located at the output end of the second conveyor belt 22, and the planetary gear assembly device 24 is located at the output end of the first conveyor belt 18. The planetary carrier loading device 23, the planetary gear assembly device 24, the planetary gear shaft assembly device 25, the riveting device 26, and the unloading device 27 are arranged in a clockwise direction around the center of the adjusting turntable 21.

[0028] Specifically, the second conveyor belt 22 is arranged parallel to the first conveyor belt 18. The second conveyor belt 22 is used to transport the planetary carrier (first-stage planetary carrier-second-stage sun gear welding assembly). The bottom of the adjusting turntable 21 is equipped with an adjusting rotation motor 211 and a lifting wedge 212. The adjusting rotation motor 211 is located at the bottom center of the adjusting turntable 21 and is used to drive the adjusting turntable 21 to rotate. The lifting wedge 212 is located on one side of the planetary gear assembly equipment 24 and is used to lift the second carrier 28. The second carrier 28 is equipped with an elastic pressure block. When the lifting cylinder rises, the wedge opens the elastic pressure block, and then the planetary gear is placed into the carrier. The elastic mechanism restores the force to install it into the planetary carrier.

[0029] Specifically, the planetary carrier loading device 23 is equipped with two sets of planetary carrier loading grippers symmetrically arranged on the same plane. These grippers are on the same horizontal plane and mounted on a lifting and translating mechanism, which can drive the planetary carrier loading grippers to move horizontally and vertically. An error-prevention sensor is installed on the second conveyor belt 22 near the planetary carrier loading device 23. This sensor monitors the production process in real time and prevents errors in the assembly of the planetary carriers. Through a combination of sensor technology and logical judgment, it ensures the correctness of the operation. The planetary carrier loading device 23 also includes a placement platform for... An angle correction sensor is installed at the placement platform to ensure that the position of the planetary carrier at the placement platform is consistent with the preset specifications, so as to facilitate the accurate angle when the planetary carrier is transported to the second carrier 28, and facilitate the installation of the subsequent first-stage planetary gears. In this embodiment, the planetary carrier loading gripper can simultaneously grab the planetary carrier transported to the end of the second conveyor belt 22 and the planetary carrier accurately positioned on the placement platform. After horizontal movement, the planetary carrier transported to the end of the second conveyor belt 22 is placed on the placement platform after angle positioning, and the planetary carrier accurately positioned on the original placement platform is transported to the second carrier 28.

[0030] Specifically, the planetary gear assembly equipment 24 is equipped with a servo moving mechanism, a picking cylinder, and picking grippers. The servo moving mechanism can drive the picking cylinder to move vertically and horizontally. The picking cylinder can drive the picking grippers to perform clamping movements. The picking grippers are located at the output end of the picking cylinder. There are three sets of picking cylinders, which are consistent with the arrangement shape of the first-stage planetary gears on the distribution plate 181. This allows for the simultaneous clamping of three first-stage planetary gears located on the distribution plate 181. At the same time, the arrangement shape of the first-stage planetary gears on the distribution plate 181 is consistent with the arrangement shape of the picking cylinders and the arrangement shape of the second carrier 28.

[0031] Specifically, the planetary gear shaft assembly equipment 25 feeds the shaft material through a shaft vibratory feeder. The output end of the vibratory feeder is divided into three conveying pipes for conveying. After the shaft is in place, the pressing cylinder descends to the upper plane of the planetary carrier, and the positioning cylinder below drives the positioning rod to rise, so that the positioning rod can be smoothly inserted into the planetary gear hole of the product, and the planetary gear and the hole of the planetary carrier are aligned vertically; the positioning rod is a spring floating mechanism. The assembly cylinder has a limit function; the material distribution cylinder pushes a unit shaft to the installation position, and the assembly cylinder then presses the shaft into the planetary carrier and planetary gear to complete the assembly.

[0032] Specifically, the riveting equipment 26 is equipped with two sets of riveting pressure sensors, which control the force values ​​of the upper and lower riveting cylinders respectively. The upper and lower riveting heads, through the upper and lower riveting cylinders, complete the riveting of the planetary carrier. Both the upper and lower riveting cylinders are equipped with limit mechanisms. During the riveting process, the riveting pressure sensor outputs an instantaneous force value for each axis, detecting the riveting force of the product and outputting real-time data. Each axis is uniformly numbered, outputs its own force value, and communicates and transmits data in real-time with the PLC, PC host, and laser marking machine 37. After riveting is completed, the unloading equipment 27 uses a mechanical claw to remove the planetary carrier from the disc carrier and place it at the receiving end of the performance testing mechanism 3.

[0033] The planetary inspection mechanism 3 is equipped with a flipping device 32, which has several flipping grippers 321 and telescopic grippers 322. In this embodiment, there are six groups, each group having two grippers arranged horizontally and symmetrically. Synchronous linear motion can be achieved through a advancing device 33 (advancing cylinder). The first group has one flipping gripper 321 and one telescopic gripper 322, used to flip the planetary carrier received from the unloading device 27 and clamp the planetary carrier to transport it below the second bearing assembly device 31. The second group has two sets of telescopic grippers 322, which are set in the gap detection device. Below the device 34; the third group is equipped with two sets of telescopic grippers 322, located below the self-slip detection device 35; the fourth group is equipped with one flipping gripper 321 and one telescopic gripper 322; the fifth group is equipped with two sets of telescopic grippers 322; the fourth and fifth groups are located below the appearance inspection device 36 and are used to inspect the first-stage planetary reducers on both sides; the sixth group is equipped with one telescopic gripper 322, located below the laser marking machine 37, and is used to clamp and transport the first-stage planetary reducers after inspection and laser marking to the third conveyor belt 38 for unloading.

[0034] Specifically, after the planetary carrier is rotated 180° by the first set of flipping jaws 321, it is placed in the positioning carrier of the second bearing assembly equipment 31. The second bearing assembly equipment 31 is equipped with a pressure sensor to work with the pressing cylinder to complete the assembly of the first-stage bearing. The pressing position is limited to ensure that the end face of the bearing inner ring is aligned with the upper plane of the planetary carrier.

[0035] Specifically, the gap detection device 34 is equipped with a spring pressure head 341. The spring pressure head 341 is driven by a pressing cylinder to press and fix the first-stage planetary reducer. The detection cylinder drives the laser displacement sensor to detect the gap between the planet carrier and the planetary gears. If there is a defect, the defective product is transported in a straight line to the gap waste unloading conveyor belt by the telescopic gripper 322. At the same time, the displacement sensor outputs real-time data and realizes real-time communication with the PLC, PC host and laser marking machine. If there is no defect, it proceeds to the next detection.

[0036] Specifically, the self-slip detection device 35 is equipped with a torque sensor and a displacement sensor. The lifting cylinder of the self-slip detection device 35 drives the sun gear (the mechanism is an elastic pressing mechanism) to descend onto the planetary gear plane for slow creeping alignment, which is monitored by the position monitoring sensor. After reaching the correct position, the servo motor starts to change speed and operate at the specified speed. The dynamic torque sensor detects the rotational torque of the product. During the detection process, the self-slip property of the product is judged based on the magnitude of the output instantaneous torque, and real-time data is output for real-time communication with the PLC, PC host, and laser marking machine. If there are defects, the defective product is transported linearly to the self-slip waste unloading conveyor belt by the telescopic gripper 322; if there are no defects, it proceeds to the next detection step.

[0037] Specifically, the appearance inspection device 36 is equipped with a CCD camera to capture real-time images and output instant data, communicating in real-time with the PLC, PC host, and laser marking machine. If there are defects, the defective products are transported in a straight line to the appearance waste unloading conveyor belt via the telescopic gripper 322; if there are no defects, they proceed to the next inspection.

[0038] Defect-free products pass through laser marking machine 37. Laser marking machine 37 receives real-time data from each station and communicates with PLC and PC. During marking, it generates pressing force value, riveting force value, gap value, and self-slip torque value. After completion, the products are progressively transported to the third conveyor belt 38 by telescopic grippers 322 to complete unloading.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic assembly device for a planetary reducer, characterized in that, include: The planetary gear bearing assembly mechanism (1) is provided with a planetary gear hopper (11), a planetary gear loading device (12), a bearing vibratory feeder (13), a bearing loading device (14), a bearing assembly device (15), a first carrier (16), a grease applicator (17), and a first conveyor belt (18). The planetary gear hopper (11) is located below the planetary gear loading device (12), the bearing vibratory feeder (13) is located on one side of the bearing loading device (14), and several first carriers (16) are provided and located below the bearing assembly device (15). Each first carrier (16) is arranged horizontally along a straight line and is connected to the first conveyor belt (18). The grease applicator (17) is provided between the bearing assembly device (15) and the first conveyor belt (18). The planetary carrier assembly and riveting mechanism (2) is provided with an adjusting turntable (21), a second conveyor belt (22), a planetary carrier loading device (23), a planetary gear assembly device (24), a planetary gear shaft assembly device (25), a riveting device (26), and a unloading device (27). The adjusting turntable (21) is circular and several second carriers (28) are arranged in a circle around the center of the adjusting turntable (21). The planetary carrier loading device (23) is located at the output end of the second conveyor belt (22), and the planetary gear assembly device (24) is located at the output end of the first conveyor belt (18). The outer ring of the adjusting turntable (21) is arranged in a clockwise direction with the center of the adjusting turntable (21) as the center of the planetary carrier, and the planetary gear assembly device (24), the planetary gear shaft assembly device (25), the riveting device (26), and the unloading device (27) are arranged in a clockwise direction. The performance testing mechanism (3) is equipped with a second bearing assembly device (31), a flipping device (32), a progressive device (33), a gap testing device (34), a gap waste discharge conveyor belt, a self-slip testing device (35), a self-slip waste discharge conveyor belt, an appearance testing device (36), an appearance waste discharge conveyor belt, a laser marking machine (37), and a third conveyor belt (38). The second bearing assembly device (31) is connected to the output end of the discharge device (27). The flipping device (32) is equipped with several grippers and is located below the second bearing assembly device (31). The grippers are arranged horizontally along a straight line. The gap testing device (34) The self-slip detection device (35) and the appearance detection device (36) are arranged in a straight line above the gripper; the gap waste material unloading conveyor belt is set on the adjacent side of the gap detection device (34), the self-slip waste material unloading conveyor belt is set on the adjacent side of the self-slip detection device (35), and the appearance waste material unloading conveyor belt is set on the adjacent side of the appearance detection device (36). The gap waste material unloading conveyor belt, the self-slip waste material unloading conveyor belt, and the appearance waste material unloading conveyor belt are all set relative to the gripper. The laser marking machine (37) is set between the appearance waste material unloading conveyor belt and the third conveyor belt (38). The PLC is electrically connected to the planetary gear bearing assembly mechanism (1), the planetary carrier assembly and riveting mechanism (2), and the performance testing mechanism (3), respectively. The PLC is electrically connected to the PC host, and the PC host is electrically connected to the laser marking machine (37).

2. The automatic assembly device for a planetary reducer according to claim 1, characterized in that: The bottom of the planetary gear storage (11) is provided with a stepping jack (111) for lifting the planetary gears to connect with the planetary gear feeding device (12); at least three first carriers (16) are provided for receiving planetary gears, assembling bearings and applying bearing grease respectively; the bottom of the first carrier (16) for applying bearing grease is provided with a grease-applying rotating motor (161).

3. The automatic assembly device for a planetary reducer according to claim 2, characterized in that: The bearing assembly equipment (15) is equipped with an assembly cylinder (151) and a pressure sensor, and the pressure sensor is electrically connected to the PLC.

4. The automatic assembly device for a planetary reducer according to claim 3, characterized in that: The output end of the first conveyor belt (18) is provided with a material distribution plate (181), and a material distribution plate rotating motor (182) is provided at the bottom of the material distribution plate (181).

5. An automatic assembly device for a planetary reducer according to claim 1, characterized in that: The planetary carrier loading device (23) is equipped with an angle correction sensor, and the second conveyor belt (22) is equipped with an error prevention sensor.

6. An automatic assembly device for a planetary reducer according to claim 5, characterized in that: The bottom of the adjusting turntable (21) is provided with an adjusting rotating motor (211) and a lifting inclined wedge (212). The adjusting rotating motor (211) is located at the bottom center of the adjusting turntable (21) and is used to drive the adjusting turntable (21) to rotate. The lifting inclined wedge (212) is located on one side of the planetary gear assembly equipment (24) and is used to lift the second carrier (28). The second carrier (28) is provided with an elastic pressure block (281).

7. An automatic assembly device for a planetary reducer according to claim 6, characterized in that: The planetary gear shaft assembly equipment (25) is equipped with a floating positioning rod (251); the riveting equipment (26) is equipped with a riveting pressure sensor, which is electrically connected to the PLC.

8. An automatic assembly device for a planetary reducer according to claim 1, characterized in that: The gripper includes a flip gripper (321) and a telescopic gripper (322).

9. An automatic assembly device for a planetary reducer according to claim 8, characterized in that: The gap detection device (34) is equipped with a gap displacement sensor and an elastic pressure head (341), the self-slip detection device (35) is equipped with a torque sensor and a sliding displacement sensor, and the appearance detection device (36) is a CDD device.

10. An automatic assembly method for a planetary reducer, characterized in that, The automatic assembly device for the planetary reducer as described in claim 1, wherein the automatic assembly method for the planetary reducer includes: The planetary gear feeding device (12) clamps and transports the planetary gears at the planetary gear storage (11) to the first carrier (16). The bearing feeding device (14) clamps and transports the bearings at the bearing vibratory plate (13) to the inner hole of the planetary gears of the first carrier (16). The bearing assembly device (15) presses the bearings into the inner hole of the planetary gears and then applies grease through the grease application device (17). The greased planetary gears are then transported to the first conveyor belt (18). The first conveyor belt (18) transports the planetary gears to the planetary gear assembly equipment (24), while the second conveyor belt (22) transports the planetary carrier to the planetary carrier loading equipment (23) to load the planetary carrier onto the second carrier (28). The planetary carrier and planetary gears on the second carrier are assembled by the planetary gear shaft assembly equipment (25). After assembly, the planetary carrier is transported to the riveting equipment (26) for riveting. After riveting, the planetary carrier is transported to the unloading equipment (27). The planetary gears that have been riveted are transported to the second bearing assembly equipment (31) via the flipping equipment (32) to complete the bearing assembly and are assembled into a first-stage planetary reducer. After that, the quality inspection is carried out by the gap detection equipment (34), the self-slip detection equipment (35) and the appearance inspection equipment (36). If there are defects, the first-stage planetary reducer is transported to the gap waste unloading conveyor belt, the self-slip waste unloading conveyor belt and the appearance waste unloading conveyor belt according to the different defects. If there are no defects, it is transported to the laser marking machine (37) for marking the first-stage planetary reducer, and then unloaded via the third conveyor belt (38).

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