Lower planet set assembling equipment and method

Abstract

The invention provides lower planet set assembling equipment and method.The equipment comprises a workbench and a feeding mechanism, a material taking mechanism, a first press fitting mechanism, a second press fitting mechanism, a third press fitting mechanism and a fourth press fitting mechanism which are arranged on the workbench, the feeding mechanism comprises a plurality of feeding assemblies, the material taking mechanism is used for conveying materials, and the material taking mechanism is used for conveying the materials; the first press-fitting mechanism, the second press-fitting mechanism, the third press-fitting mechanism and the fourth press-fitting mechanism are arranged around the material taking mechanism, the first press-fitting mechanism is used for press-fitting a first bearing to a semi-finished motor product, the second press-fitting mechanism is matched with the material taking mechanism to assemble a second bearing, and the second press-fitting mechanism is further used for press-fitting a lower planet carrier to the semi-finished motor product. The third press-fitting mechanism is used for press-fitting the third bearing to the semi-finished motor product, and the fourth press-fitting mechanism is used for press-fitting the clamping ring to the semi-finished motor product. According to the full-automatic assembling machine, the procedures of automatic feeding, press fitting and discharging are integrated, full-automatic assembling of the lower planet set is achieved, the automation degree is high, and the assembling efficiency and the assembling quality are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of joint motor manufacturing, in particular to a lower planetary assembly equipment, and also designs a lower planetary assembly method. BACKGROUND

[0002] The joint motor is a key core component of a bionic robot such as a humanoid robot and a quadruped robot, and the joint motor of the bionic robot needs to consider flexibility and strength, and the performance of the joint motor determines the overall performance of the bionic robot.

[0003] With the progress of science and technology, the requirements for the bionic robot are getting higher and higher, and accordingly, the requirements for the joint motor are getting higher and higher, wherein, the assembly process of the lower planetary group of the joint motor is one of the production processes of the joint motor, and is also an important factor affecting the quality of the joint motor. At present, the assembly is mainly relied on the traditional way, but the traditional manual or semi-automatic assembly method has the problems of low efficiency and unstable assembly quality, and cannot meet the increasingly high requirements. SUMMARY

[0004] The present application aims to provide a lower planetary assembly equipment to overcome the deficiencies in the prior art.

[0005] To solve the above technical problems, the technical scheme of the present application is as follows: a lower planetary assembly equipment, comprising a workbench and a feeding mechanism, a taking mechanism, a pressing mechanism one, a pressing mechanism two, a pressing mechanism three and a pressing mechanism four arranged on the workbench, the feeding mechanism comprises a plurality of feeding assemblies arranged on both sides of the taking mechanism, each feeding assembly feeds at least one material, the taking mechanism is used for conveying the material between the feeding mechanism, the pressing mechanism one, the pressing mechanism two, the pressing mechanism three and the pressing mechanism four, the pressing mechanism one, the pressing mechanism two, the pressing mechanism three and the pressing mechanism four are arranged around the taking mechanism, the pressing mechanism one is used for pressing a bearing one to a motor semi-finished product, the pressing mechanism two is used for assembling a bearing two with the taking mechanism, the pressing mechanism two is also used for pressing a lower planetary carrier to the motor semi-finished product, the pressing mechanism three is used for pressing a bearing three to the motor semi-finished product, and the pressing mechanism four is used for pressing a ring to the motor semi-finished product.

[0006] Further, the lower planetary assembly equipment described above, the taking mechanism comprises two oppositely arranged robots one and two, the output ends of the robots one and two are respectively provided with detection cameras, one side of the robot one is provided with a quick-change support one, the output end of the robot one is movably connected with a plurality of taking clamps arranged on the quick-change support one, and one side of the robot two is provided with a quick-change support two, the output end of the robot two is movably connected with a plurality of taking clamps arranged on the quick-change support two.

[0007] Furthermore, in the aforementioned lower planetary assembly equipment, multiple feeding components include feeding component one and feeding component two, which are arranged side by side on one side of the workbench. Feeding component one includes a transfer conveyor belt and a material tray one on the transfer conveyor belt. Feeding component two includes a transfer conveyor belt and a material tray two on the transfer conveyor belt. The material tray one is provided with multiple material loading positions for loading multiple bearings one, bearing two, and bearing three. The material tray two is also provided with multiple material loading positions for loading multiple lower planetary carriers and retaining rings.

[0008] Furthermore, in the aforementioned lower planetary assembly equipment, the multiple feeding components also include a third feeding component. The third feeding component includes a platform conveyor belt and a pallet. One end of the platform conveyor belt is located on the worktable and inserted between robots one and two of the material handling mechanism. The other end is connected to a conveyor line located outside the worktable. The pallet is used to load at least one semi-finished motor product. The pallet is equipped with a positioning platform for positioning the semi-finished motor product. The platform conveyor belt transports the semi-finished motor product through the pallet. Preferably, the feeding mechanism also includes a first transfer platform and a second transfer platform. The first transfer platform is located on the side of the first feeding component near the material handling mechanism and is used to temporarily store the materials loaded on the first feeding component. The second transfer platform is located on the side of the second feeding component near the material handling mechanism and is used to temporarily store the materials loaded on the second feeding component.

[0009] Furthermore, in the aforementioned lower planetary assembly equipment, the pressing mechanism 1 and the pressing mechanism 3 are respectively located on both sides of the robot 1. The pressing mechanism 1 includes a pressing table 1 and a pressing frame 1 located above the pressing table 1. The pressing table 1 is provided with a pressing mold 1, and the pressing frame 1 is provided with a pressing assembly 1. The pressing assembly 1 cooperates with the pressing mold 1 to complete the pressing of the bearing 1. The pressing assembly 1 includes a stamping cylinder 1, a stamping plate 1, a stamping head 1, a downward pushing cylinder, and a downward pushing plate. The stamping cylinder 1 is fixed to the pressing frame 1. At the top, its output end is connected to a stamping plate. A stamping seat is fixed below the stamping plate. A stamping head is inserted into the stamping seat and is movably connected to it. A positioning pin adapted to the inner hole of a bearing is inserted inside the stamping head. The positioning pin is slidably connected to the stamping head, and a spring connected to the stamping head is provided at the top of the positioning pin. Multiple magnets are provided around the positioning pin at the bottom of the stamping head. A push-down cylinder is located on one side of the stamping head, and its output end is provided with a push-down plate. Preferably, a T-shaped hole extends from the end of the push-down plate away from the push-down cylinder. A downwardly extending push-down part is provided on each side of the opening end of the T-shaped hole. An opening groove is provided in the middle of the lower end of the stamping head. The push-down part is inserted into the opening groove, and when the push-down cylinder is in the retracted state, the bottom surface of the push-down part is not higher than the bottom surface of the stamping head.

[0010] Furthermore, in the aforementioned lower planetary assembly equipment, the pressing mold includes a lower pressing plate, an upper pressing plate, a guide bar, and a buffer limiting block. The lower pressing plate is fixed above the pressing table, and the upper pressing plate is positioned above the lower pressing plate and elastically connected to the lower pressing plate via multiple springs arranged circumferentially along the upper pressing plate. The upper pressing plate has a pressing positioning hole at its top that mates with the outer side of the motor semi-finished product, and a buffer column fixedly connected to it at its bottom. The pressing positioning hole also contains a positioning pin for positioning the circumferential position of the motor semi-finished product. The lower end of the buffer column is inserted into the lower pressing plate and slidably connected to it. The buffer limiting block is positioned directly below the punch head and mates with the buffer column. The guide bar is located on one side of the lower pressing plate, and the outer side of the upper pressing plate has a sliding groove. The upper end of the guide bar is inserted into the sliding groove and slidably connected to it.

[0011] Furthermore, in the aforementioned lower planetary assembly equipment, the pressing mechanism one further includes a transverse moving component, which includes a transverse moving base and a linear slide rail assembly. One end of the transverse moving base is fixed to the worktable, and the other end is inserted into the inside of the pressing frame one and placed on a base located at the bottom of the pressing frame one. The linear slide rail assembly is located on the transverse moving base, and its output end is provided with a pressing platform one. The pressing mechanism one also includes a material loading platform, which is used to load the material to be pressed. It is arranged side by side with the pressing mold one on the pressing platform one along the moving direction of the transverse moving component.

[0012] Furthermore, in the aforementioned lower planetary assembly equipment, the pressing mechanism 2 and pressing mechanism 4 are respectively located on both sides of the robot 2. The pressing mechanism 2 includes a pressing table 2 and a pressing frame 2 located above the pressing table 2. The pressing table 2 is provided with a pressing mold 2, and the pressing frame 2 is provided with a pressing assembly 2. The pressing assembly 2 cooperates with the pressing mold 2 to complete the pressing of the lower planetary carrier. The pressing assembly 2 includes a stamping cylinder 2, a stamping plate 2, and a stamping head 2. The stamping cylinder 2 is fixed to the pressing frame. The top of the second stamping head is connected to the output end of the second stamping plate. A second stamping seat is fixed below the second stamping plate. The second stamping head is inserted into the second stamping seat and is movably connected to it. The bottom of the second stamping head has a central boss that matches the inner hole of the lower planetary carrier. A side pin that mates with the lower planetary carrier is located on one side of the central boss. The lower end of the second stamping head also has multiple air intake ports arranged around the outer side of the central boss. The inside of the second stamping head has a vacuum suction chamber communicating with the air intake ports. The vacuum suction chamber is connected to a vacuum generator located on the second stamping plate via at least one connector located outside the second stamping head.

[0013] Furthermore, in the aforementioned lower planetary assembly equipment, the pressing mechanism four includes a pressing table four and a pressing frame four located above the pressing table four. The pressing table four is provided with a pressing mold four, and the pressing frame four is provided with a pressing assembly four. A guide assembly is also provided on one side of the pressing frame four. The pressing assembly four, the pressing mold four, and the guide assembly cooperate to complete the pressing of the retaining ring. The pressing assembly four includes a stamping cylinder four, a stamping plate four, and a stamping head four. The stamping cylinder four is fixed on the top of the pressing frame four, and its output end is connected to the stamping plate four. A stamping seat four is fixed below the stamping plate four. The stamping head four is inserted into the stamping seat four and is movably connected to the stamping seat four. Multiple circumferentially distributed magnets are provided at the bottom of the stamping head four.

[0014] Furthermore, in the aforementioned lower planetary assembly equipment, the guide assembly includes a support base, a transverse mounting base, and a guide ring. The support base is fixed above the worktable, and its upper end is provided with a slide rail assembly. The transverse mounting base is slidably connected to the slide rail assembly, and a limiting plate fixedly connected to the support base is provided below the transverse mounting base. Multiple springs are provided between the limiting plate and the transverse mounting base, arranged along the sliding direction of the slide rail assembly. A guide cylinder is provided at the end of the transverse mounting base away from the pressing assembly. A guide seat is provided at the output end of the guide cylinder. The guide seat is slidably connected to the slide rail provided on the side of the transverse mounting base. The guide ring is provided at the end of the guide seat, and its center has a tapered hole that is larger at the top and smaller at the bottom.

[0015] The present invention also provides a method for assembling a lower planetary assembly, comprising the following steps: S1. Feeding: The feeding mechanism transports each material to the picking position of the picking mechanism; S2. Press-fit bearing one: The material handling mechanism picks up bearing one and motor semi-finished product and places them into the pressing mechanism one. Then, the pressing mechanism one presses bearing one onto the motor semi-finished product. S3. Assemble bearing two. The material handling mechanism and the pressing mechanism two work together to complete the assembly of bearing two. S4. Pressing the lower planetary carrier: The material handling mechanism picks up the lower planetary carrier and places it on the pressing mechanism two. Then, the pressing mechanism two presses the lower planetary carrier onto the motor semi-finished product. S5. Press-fit bearing three: The material handling mechanism picks up bearing three and motor semi-finished product and places them into the pressing mechanism three. Then, the pressing mechanism three presses bearing three onto the motor semi-finished product. S6. Pressing the retaining ring: The material handling mechanism picks up the retaining ring and the motor semi-finished product and places them into the pressing mechanism four. Then, the pressing mechanism four presses the retaining ring onto the motor semi-finished product. S7. Unloading: The semi-finished motor with the planetary assembly pressed into place is unloaded through the feeding assembly and conveyor line and transported to the next process.

[0016] Compared with the prior art, the beneficial effects of the present invention are: the present invention has a reasonable structural layout and beautiful appearance, and integrates automatic feeding, pressing and unloading processes, realizing fully automatic assembly of the lower planetary assembly, with a high degree of automation, ensuring assembly consistency, and improving assembly efficiency and quality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the external structure of the planetary assembly equipment of the present invention; Figure 2 This is a partial structural schematic diagram of the planetary assembly equipment of the present invention; Figure 3 for Figure 2 Top view; Figure 4 This is a schematic diagram of the pressing mechanism of the planetary assembly equipment of the present invention; Figure 5 This is a partial structural diagram of the press-fitting component of the planetary assembly equipment of the present invention; Figure 6 This is a cross-sectional schematic diagram of the press-fitting component one of the planetary assembly equipment of the present invention; Figure 7 This is a partial structural diagram of the pressing mechanism of the planetary assembly equipment of the present invention; Figure 8 This is a cross-sectional schematic diagram of the press mold of the planetary assembly equipment of the present invention; Figure 9 This is a schematic diagram of the pressing mechanism two of the planetary assembly equipment of the present invention; Figure 10 This is a partial structural diagram of the press-fitting component two of the planetary assembly equipment of the present invention; Figure 11 This is a cross-sectional schematic diagram of the press-fitting component two of the planetary assembly equipment of the present invention; Figure 12 This is a schematic diagram of the pressing mechanism four of the planetary assembly equipment of the present invention; Figure 13 This is a partial structural diagram of the press-fitting component two of the planetary assembly equipment of the present invention; Figure 14 This is a schematic diagram of the guide assembly structure of the planetary assembly equipment of the present invention; In the diagram: 1. Workbench; 2. Feeding mechanism; 21. Feeding component one; 211. Transfer conveyor belt; 212. Material tray one; 22. Feeding component two; 221. Material tray two; 23. Feeding component three; 231. Platform conveyor belt; 232. Pallet; 24. Conveyor line; 25. Transfer platform one; 26. Transfer platform two; 3. Material handling mechanism; 31. Robot 1; 32. Robot 2; 33. Quick-change bracket 1; 34. Quick-change bracket 2; 4. Pressing Mechanism 1; 41. Pressing Table 1; 42. Pressing Frame 1; 43. Pressing Mold 1; 431. Lower Pressing Plate; 432. Upper Pressing Plate; 433. Guide Strip; 434. Buffer Limiting Block; 435. Spring 2; 436. Buffer Column; 44. Pressing Assembly 1; 441. Stamping Cylinder 1; 442. Stamping Plate 1; 443. Stamping Head 1; 4431. Opening Slot; 444. Lower Push Cylinder; 445. Lower Push Plate; 4451. Lower Push Part; 446. Stamping Seat 1; 447. Positioning Column; 448. Spring 1; 45. Horizontal Movement Assembly 1; 451. Horizontal Movement Base; 452. Linear Slide Rail Assembly; 46. Material Loading Platform; 5. Pressing mechanism two; 51. Pressing table two; 52. Pressing frame two; 53. Pressing mold two; 54. Pressing assembly two; 541. Stamping cylinder two; 542. Stamping plate two; 543. Stamping head two; 5431. Suction port; 5432. Vacuum suction chamber; 5433. Central boss; 544. Stamping seat two; 545. Side pin; 6. Pressing mechanism three; 7. Pressing mechanism four; 71. Pressing table four; 72. Pressing frame four; 73. Pressing mold four; 74. Pressing assembly four; 741. Stamping cylinder four; 742. Stamping plate four; 743. Stamping head four; 744. Stamping seat four; 75. Guide assembly; 751. Support seat; 752. Horizontal mounting seat; 753. Guide ring; 754. Slide rail assembly; 755. Limiting plate; 756. Spring three; 757. Guide cylinder; 758. Guide seat. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0020] Example 1 like Figures 1-14As shown, a lower planetary assembly equipment includes a worktable 1 and a feeding mechanism 2, a picking mechanism 3, a pressing mechanism 4, a pressing mechanism 2, a pressing mechanism 3, a pressing mechanism 4, a pressing mechanism 5, a pressing mechanism 3, and a pressing mechanism 4 7 disposed on the worktable 1. The feeding mechanism 2 includes multiple feeding components disposed on both sides of the picking mechanism 3, each feeding component feeding at least one type of material. The picking mechanism 3 is used to transport materials between the feeding mechanism 2, the pressing mechanism 4, the pressing mechanism 2, the pressing mechanism 3, the pressing mechanism 4, and the pressing mechanism 5. The assembly mechanism 1 (4), pressing mechanism 2 (5), pressing mechanism 3 (6), and pressing mechanism 4 (7) are arranged around the material handling mechanism 3 and are located at the four corners of the workbench 1. The pressing mechanism 1 (4) is used to press the bearing 1 onto the motor semi-finished product. The pressing mechanism 2 (5) works with the material handling mechanism 3 to assemble the bearing 2. The pressing mechanism 2 (5) is also used to press the lower planetary carrier onto the motor semi-finished product. The pressing mechanism 3 (6) is used to press the bearing 3 onto the motor semi-finished product. The pressing mechanism 4 (7) is used to press the retaining ring onto the motor semi-finished product.

[0021] In the above structure, such as Figure 1 As shown, the top of the workbench 1 is equipped with an outer frame for covering the equipment. The outer frame has a transparent door panel, which is aesthetically pleasing, clean and safe during the assembly process, and has a high level of safety. The bottom of the workbench 1 is equipped with a control box for centralized control.

[0022] The lower planetary assembly equipment of the present invention has a reasonable arrangement of its various mechanisms, a compact structure, and an attractive appearance. It integrates automatic feeding, pressing, and unloading processes, realizing fully automatic assembly of the lower planetary assembly. It has a high degree of automation, ensures assembly consistency, and improves assembly efficiency and quality.

[0023] like Figures 2-3 As shown, the material handling mechanism 3 includes two robots, Robot 1 31 and Robot 2 32, arranged opposite each other. Both Robot 1 31 and Robot 2 32 have detection cameras at their output ends. Robot 1 31 has a quick-change bracket 1 33 on one side, and its output end is movably connected to multiple material handling grippers mounted on the quick-change bracket 1 33. Robot 2 32 has a quick-change bracket 2 34 on one side, and its output end is movably connected to multiple material handling grippers mounted on the quick-change bracket 2 34. By changing the material handling grippers, Robot 1 31 and Robot 2 32 can handle different materials, enabling flexible material handling for conveying and assembly.

[0024] like Figures 2-3As shown, multiple feeding components include feeding component one 21 and feeding component two 22, which are arranged side by side on one side of the workbench 1. Feeding component one 21 includes a transfer conveyor belt 211 and a material tray one 212 on the transfer conveyor belt 211. Feeding component two 22 includes a transfer conveyor belt 211 and a material tray two 221 on the transfer conveyor belt 211. Material tray one 212 has multiple material loading positions for loading multiple bearings one, bearing two, and bearing three. Material tray two 221 also has multiple material loading positions for loading multiple lower planetary carriers and chucks. In this process, the transfer conveyor belt 211 is connected to the AGV mobile robot, and the feeding of materials is achieved by changing the full and empty material trays.

[0025] The multiple feeding components also include feeding component three 23, which includes a platform conveyor belt 231 and a tray 232. One end of the platform conveyor belt 231 is located on the workbench 1 and inserted between robot one 31 and robot two 32. The other end is connected to the conveyor line 24 located outside the workbench 1. The tray 232 is used to load at least one motor semi-finished product. The tray 232 is equipped with a positioning platform for positioning the motor semi-finished product. The platform conveyor belt 231 transports the motor semi-finished product through the conveyor tray 232, realizing the loading of the motor semi-finished product before assembly and the unloading of the motor semi-finished product after assembly. After assembly, the tray 232 loaded with the assembled motor semi-finished product is transported to the next process via the conveyor line 24.

[0026] In addition, the feeding mechanism includes a first transfer platform 25 and a second transfer platform 26. The first transfer platform 25 is located on the side of the first feeding assembly 21 near the picking mechanism 3, and is used to temporarily store the materials loaded on the first feeding assembly 21. The second transfer platform 26 is located on the side of the second feeding assembly 22 near the picking mechanism 3, and is used to temporarily store the materials loaded on the second feeding assembly 22. The arrangement of the first transfer platform 25 and the second transfer platform 26 improves feeding efficiency and reduces cycle interruptions.

[0027] Among them, such as Figures 4-8 As shown, pressing mechanism 1 4 and pressing mechanism 3 6 are respectively located on both sides of robot 1 31. Pressing mechanism 1 4 includes pressing table 1 41 and pressing frame 1 42 located above pressing table 1 41. Pressing mold 1 43 is provided on pressing table 1 41 and pressing assembly 1 44 is provided on pressing frame 1 42. Pressing assembly 1 44 and pressing mold 1 43 cooperate to complete the pressing of bearing 1.

[0028] In the above structure, such as Figures 4-6As shown, the press assembly 44 includes a press cylinder 441, a press plate 442, a press head 443, a push cylinder 444, and a push plate 445. The press cylinder 441 is fixed to the top of the press frame 42, and its output end is connected to the press plate 442. A press seat 446 is fixed below the press plate 442. The press head 443 is inserted into the press seat 446 and is movably connected to the press seat 446. A positioning post 447 adapted to the inner hole of the bearing is inserted inside the press head 443. The positioning post 447 is slidably connected to the press head 443, and a spring 448 connected to the press head 443 is provided at the top of the positioning post 447. A plurality of magnets are provided at the bottom of the press head 443 surrounding the positioning post 447. The push cylinder 444 is located on one side of the press head 443, and its output end is provided with a push plate 445.

[0029] The end of the push plate 445 away from the push cylinder 444 is provided with a T-shaped hole. Each side of the opening end of the T-shaped hole is provided with a downwardly extending push part 4451. The lower end of the punch head 443 is provided with an opening groove 4431. The push part 4451 is inserted into the opening groove 4431. When the push cylinder 444 is in the retracted state, the bottom surface of the push part 4451 is not higher than the bottom surface of the punch head 4431 and is embedded in the opening groove 4431.

[0030] like Figures 7-8 As shown, the press-fitting mold 43 includes a lower press-fitting plate 431, an upper press-fitting plate 432, a guide bar 433, and a buffer limiting block 434. The lower press-fitting plate 431 is fixed above the press-fitting table 41, and the upper press-fitting plate 432 is located above the lower press-fitting plate 431 and is elastically connected to the lower press-fitting plate 431 by multiple springs 435 arranged circumferentially along the upper press-fitting plate 432. The top of the upper press-fitting plate 432 is provided with a press-fitting positioning hole that mates with the outer side of the motor semi-finished product, and the bottom is provided with a buffer column 4 that is fixedly connected to it. 36. The press-fit positioning hole is also equipped with a positioning pin for positioning the circumferential position of the semi-finished motor. The lower end of the buffer pin 436 is inserted into the lower press-fit plate 431 and slidably connected to it, guiding the press-fit direction. The buffer limit block 434 is located directly below the punch head 443 and cooperates with the buffer pin 436 to limit the press-fit position. The guide bar 433 is located on one side of the lower press-fit plate 431. The outer side of the upper press-fit plate 432 has a sliding groove, and the upper end of the guide bar 433 is inserted into the sliding groove and slidably connected to it. Through the arrangement of multiple springs 435 and the buffer pin 436, a buffering force can be provided during press-fitting, reducing damage to the equipment and products.

[0031] like Figure 4As shown, the pressing mechanism 4 mentioned above also includes a transverse component 45. The transverse component 45 includes a transverse base 451 and a linear slide rail assembly 452. One end of the transverse base 451 is fixed on the workbench 1, and the other end is inserted into the pressing frame 42 and placed on the base located at the bottom of the pressing frame 42. The linear slide rail assembly 452 is located on the transverse base 451, and its output end is provided with a pressing table 41. In this embodiment, the linear slide rail assembly 452 is a lead screw linear sliding structure.

[0032] like Figure 4 , 7 As shown, the aforementioned pressing mechanism 4 also includes a material loading platform 46, which is used to load the material to be pressed. It is arranged side by side with the pressing mold 43 on the pressing platform 41 along the moving direction of the transverse component 45.

[0033] The working principle of the pressing mechanism is as follows: Before pressing, the lower pusher 4451 is inserted into the opening slot 4431, and the lower end of the positioning post 447 protrudes from the bottom surface of the first stamping head 443, facilitating positioning and material removal. During pressing, the material loading platform 46 moves to directly below the first stamping head 443 via the transverse moving assembly 45, and the first stamping cylinder 441 drives the first stamping head 443 to descend. The lower end of the positioning post 447 is inserted into the center hole of the first bearing, and the first bearing is attracted to the bottom surface of the first stamping head by a magnet, completing the positioning and material removal of the first bearing on the first stamping head 443. Then, the first stamping head 443 rises, and the pressing die 43 moves to directly below the first stamping head 443 under the action of the transverse moving assembly 45, and the first stamping cylinder 441 then... The secondary drive press head 443 descends to begin pressing. As it continues to press down, the positioning pin 447 is subjected to upward pressure, the spring 448 is compressed, and the positioning pin 447 retracts into the press head 443 until the bearing is completely pressed onto the motor semi-finished product. Finally, the press cylinder 441 drives the press head 443 to rise and reset. At the same time, the push cylinder 444 is activated to push the push plate 445 to move. The push plate 445 pushes the bearing to separate it from the press head 443, and the bearing is pressed into place.

[0034] In this embodiment, the pressing mechanism 36 has the same structure as the pressing mechanism 14, and will not be described in detail here.

[0035] Example 2 Based on the structure of Example 1, such as Figures 9-11 As shown, pressing mechanism 2 5 and pressing mechanism 4 7 are respectively located on both sides of robot 2 32. Pressing mechanism 2 5 includes pressing table 2 51 and pressing frame 2 52 located above pressing table 2 51. Pressing mold 2 53 is provided on pressing table 2 52 and pressing assembly 2 54 is provided on pressing frame 2 52. Pressing assembly 2 54 and pressing mold 2 53 cooperate to complete the pressing of lower planetary carrier.

[0036] The press assembly 54 includes a press cylinder 541, a press plate 542, and a press head 543. The press cylinder 541 is fixed to the top of the press frame 52, and its output end is connected to the press plate 542. A press seat 544 is fixed below the press plate 542. The press head 543 is inserted into the press seat 544 and is movably connected to it. The stepped surface at the upper end of the press head 543 cooperates with the bottom surface of the press plate 542 to limit the upper limit displacement of the press head 543, and the stepped surface at the lower end cooperates with the bottom surface of the insertion hole in the press seat 544 to limit the lower limit displacement, so that the press head has a slight displacement during press-fitting, reducing impact. The bottom is provided with a central boss 5433 that matches the inner hole of the lower planetary carrier. A side pin 545 that mates with the lower planetary carrier is provided on one side of the central boss 5433. The central boss 5433 mates with the central inner hole of the lower planetary carrier, and the side pin 545 mates with a small hole at the bottom of the lower planetary carrier, positioning the lower planetary carrier. The lower end of the second stamping head 543 is also provided with multiple suction ports 5431 arranged around the outer side of the central boss 5433. The interior of the second stamping head 543 is provided with a vacuum suction chamber 5432 communicating with the suction ports 5431. The vacuum suction chamber 5432 is connected to a vacuum generator on the second stamping plate 542 via at least one connector located outside the second stamping head 543. During press fitting, the central boss 5433 and the side pin 545 are inserted into the lower planetary carrier to position it. Then, the vacuum generator is activated, and the multiple suction ports adhere the lower planetary carrier to the lower end of the second stamping head.

[0037] like Figures 12-14 As shown, the pressing mechanism 4 7 includes a pressing table 4 71 and a pressing frame 4 72 located above the pressing table 4 71. The pressing table 4 71 is provided with a pressing mold 4 73, and the pressing frame 4 72 is provided with a pressing assembly 4 74. A guide assembly 75 is also provided on the side of the pressing frame 4 72. The pressing assembly 4 74, the pressing mold 4 73 and the guide assembly 75 cooperate to complete the pressing of the retaining ring. Among them, such as Figures 12-13 As shown, the pressing assembly 74 includes a pressing cylinder 741, a pressing plate 742, and a pressing head 743. The pressing cylinder 741 is fixed to the top of the pressing frame 72, and its output end is connected to the pressing plate 742. A pressing seat 744 is fixed below the pressing plate 742. The pressing head 743 is inserted into the pressing seat 744 and is movably connected to it. The stepped surface at the upper end of the pressing head 743 cooperates with the bottom surface of the pressing plate 742 to limit the upper limit displacement of the pressing head 743. The stepped surface at the lower end cooperates with the bottom surface of the insertion hole in the pressing seat 744 to limit the lower limit displacement. The bottom of the pressing head 743 is provided with multiple circumferentially distributed magnets. During pressing, the pressing head 743 descends and approaches the retaining ring on the material loading platform of the pressing mechanism 743. The magnets attract the retaining ring to the bottom of the pressing head 743.

[0038] like Figure 12 , 14 As shown, the guide assembly 75 includes a support base 751, a transverse mounting base 752, and a guide ring 753. The support base 751 is fixed above the workbench 1, and its upper end is provided with a slide rail assembly 754. The transverse mounting base 752 is slidably connected to the slide rail assembly 754, and a limiting plate 755 fixedly connected to the support base 751 is provided below the transverse mounting base 752. A plurality of springs 756 are provided between the limiting plate 755 and the transverse mounting base 752, which are arranged along the sliding direction of the slide rail assembly 754, so that the transverse mounting base 751... 2. A spring 756 is elastically connected vertically to the support 751. A guide rod is inserted inside the spring 756 to guide the spring's deformation direction, thus guiding the buffering direction during press-fitting and reducing press-fitting impact. A guide cylinder 757 is located at the end of the transverse mounting base 752 away from the press-fitting assembly 74. A guide seat 758 is located at the output end of the guide cylinder 757. The guide seat 758 is slidably connected to a slide rail located on the side of the transverse mounting base 752. A guide ring 753 is located at the end of the guide seat 758, with a tapered hole at its center that is larger at the top and smaller at the bottom. Furthermore, buffer assemblies that cooperate with the guide seat 758 are located at both ends of the top of the transverse mounting base 752 to limit the displacement of the guide ring 753 and reduce vibration during movement.

[0039] During the press-fitting of the retaining ring, the guide cylinder 757 drives the guide ring 753 to move directly below the fourth stamping head 743. The fourth stamping cylinder 741 drives the fourth stamping head 743 to descend, and the fourth stamping head 743 enters the tapered hole of the guide ring 753. As the fourth stamping head 743 continues to descend, the outer diameter of the retaining ring is reduced by the tapered hole. When the retaining ring passes through the bottom of the tapered hole, the external space increases, and the retaining ring expands outward and springs into the retaining groove of the motor semi-finished product, completing the press-fitting of the retaining ring. Then, the fourth stamping cylinder 741 and the guide ring 753 are reset, waiting for the next press-fitting.

[0040] Furthermore, in this embodiment, as Figure 9 , 12 As shown, pressing molds 2 (53) and 4 (73) are structurally similar to pressing mold 1 (43). Pressing mechanisms 2 (5) and 4 (7) also include a transverse moving assembly and a material loading platform, similar in structure to the transverse moving assembly 45 and material loading platform 46 of pressing mechanism 1 (4), and therefore will not be described in detail here. Furthermore, pressing mechanisms 1 (4), 2 (5), 3 (6), and 4 (7) are all equipped with pressure sensors that cooperate with the punch head to control the pressing pressure and ensure accurate pressing.

[0041] The lower planetary assembly in this embodiment includes assembling the lower planetary assembly (including bearing one, bearing two, lower planetary carrier, bearing three, and retaining ring) onto the motor semi-finished product. Bearing one and bearing three are identical, and bearing two is a small ball bearing.

[0042] The present invention also provides a method for assembling a lower planetary assembly, comprising the following steps: S1. Feeding: The feeding mechanism 2 transports each material to the picking position of the picking mechanism 3. Specifically, the feeding component 1 21 transports multiple bearings 1, 2, and 3 to the picking position, the feeding component 2 22 transports the lower planetary carrier and the retaining ring to the picking position, and the feeding component 3 23 transports the semi-finished motor to the picking position.

[0043] S2. Press-fit bearing 1: The material handling mechanism 3 picks up bearing 1 and motor semi-finished product and places them on the pressing mechanism 4. Then, the pressing mechanism 4 presses bearing 1 onto the motor semi-finished product. Specifically, robot 31 picks up bearing 1 and places it on the material loading platform of pressing mechanism 4, picks up motor semi-finished product and places it on pressing mold 43. Then, pressing mechanism 4 presses bearing 1 onto motor semi-finished product. Robot 31 places the motor semi-finished product with bearing 1 pressed onto the tray 232 of feeding component 3 23.

[0044] S3. Assemble bearing two. The material picking mechanism 3 and the pressing mechanism 2 5 cooperate to complete the assembly of bearing two. Specifically, robot 2 32 picks up the motor semi-finished product and places it on the pressing mold 2 53. Then, robot 2 32 picks up bearing two and assembles it onto the motor semi-finished product.

[0045] S4. Pressing the lower planetary carrier: The material handling mechanism 3 picks up the lower planetary carrier and places it on the pressing mechanism 5. Then, the pressing mechanism 5 presses the lower planetary carrier onto the motor semi-finished product. Specifically, the robot 2 32 picks up the lower planetary carrier and places it on the material loading platform of the pressing mechanism 2 5. Then, the pressing mechanism 2 5 presses the lower planetary carrier onto the motor semi-finished product. Then, the robot 2 32 places the motor semi-finished product with the lower planetary carrier pressed onto the tray 232.

[0046] It should be noted that the loading of the lower planetary carrier in step S4 can be carried out simultaneously with the pressing action in step S2. Correspondingly, the loading of bearings and retaining rings in steps S5 and S6 can be carried out simultaneously with other pressing actions, so as to reasonably control the working cycle of the material handling mechanism and improve assembly efficiency.

[0047] S5, Press-fit bearing three, the material handling mechanism 3 picks up bearing three and motor semi-finished product and places them into pressing mechanism three 6, then pressing mechanism three 6 presses bearing three onto motor semi-finished product; and after pressing is completed, robot one 31 places the motor semi-finished product with bearing three pressed onto tray 232.

[0048] S6. Pressing the retaining ring: The material handling mechanism 3 picks up the retaining ring and the motor semi-finished product and places them on the pressing mechanism 7. Then, the pressing mechanism 7 presses the retaining ring onto the motor semi-finished product. Specifically, robot 2 32 picks up the retaining ring and places it on the material loading platform of the pressing mechanism 7. It picks up the motor semi-finished product and places it on the pressing mold 4 73. Then, the pressing mechanism 7 presses the retaining ring onto the motor semi-finished product. Then, robot 2 places the motor semi-finished product with the retaining ring pressed onto the tray 232.

[0049] S7. Unloading: The semi-finished motor with the lower planetary assembly pressed into place is unloaded through loading component 23 and conveyor line 24 and transported to the next process.

[0050] In summary, this invention integrates automatic feeding, pressing, and unloading processes, and through the rational arrangement of four pressing mechanisms, it achieves fully automatic and efficient assembly of the lower planetary assembly. The high degree of automation ensures assembly consistency and greatly improves assembly efficiency and quality.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0052] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A lower planetary assembly equipment, characterized in that: The device includes a workbench and a feeding mechanism, a picking mechanism, and pressing mechanisms one, two, three, and four mounted on the workbench. The feeding mechanism includes multiple feeding components located on both sides of the picking mechanism. Each feeding component feeds at least one type of material. The picking mechanism is used to transport materials between the feeding mechanism, pressing mechanism one, pressing mechanism two, pressing mechanism three, and pressing mechanism four. The pressing mechanisms one, two, three, and four are arranged around the picking mechanism. Pressing mechanism one is used to press bearing one onto the motor semi-finished product. Pressing mechanism two cooperates with the picking mechanism to assemble bearing two. Pressing mechanism two is also used to press the lower planetary carrier onto the motor semi-finished product. Pressing mechanism three is used to press bearing three onto the motor semi-finished product. Pressing mechanism four is used to press the retaining ring onto the motor semi-finished product.

2. The lower planetary assembly equipment according to claim 1, characterized in that: The material handling mechanism includes two robots, Robot 1 and Robot 2, arranged opposite to each other. Both Robot 1 and Robot 2 are equipped with detection cameras at their output ends. Robot 1 has a quick-change bracket 1 on one side, and its output end is movably connected to multiple material handling grippers on the quick-change bracket 1. Robot 2 has a quick-change bracket 2 on one side, and its output end is movably connected to multiple material handling grippers on the quick-change bracket 2.

3. The lower planetary assembly equipment according to claim 1, characterized in that: Multiple feeding components include feeding component one and feeding component two, which are arranged side by side on one side of the workbench. Feeding component one includes a transfer conveyor belt and a material tray one on the transfer conveyor belt. Feeding component two includes a transfer conveyor belt and a material tray two on the transfer conveyor belt. Material tray one is provided with multiple material loading positions for loading multiple bearings one, bearing two, and bearing three. Material tray two is also provided with multiple material loading positions for loading multiple lower planetary carriers and circlips.

4. The lower planetary assembly equipment according to claim 3, characterized in that: The multiple feeding components also include feeding component three, which includes a platform conveyor belt and a tray. One end of the platform conveyor belt is located on the workbench and inserted between robot one and robot two of the material picking mechanism, and the other end is connected to a conveyor line located outside the workbench. The tray is used to load at least one motor semi-finished product. The tray is equipped with a positioning platform for positioning the motor semi-finished product. The platform conveyor belt transports the motor semi-finished product through the conveyor tray.

5. The lower planetary assembly equipment according to claim 1 or 2, characterized in that: The pressing mechanism 1 and the pressing mechanism 3 are located on both sides of the robot 1. The pressing mechanism 1 includes a pressing table 1 and a pressing frame 1 located above the pressing table 1. The pressing table 1 is equipped with a pressing mold 1, and the pressing frame 1 is equipped with a pressing assembly 1. The pressing assembly 1 cooperates with the pressing mold 1 to complete the pressing of the bearing 1. The pressing assembly 1 includes a stamping cylinder 1, a stamping plate 1, a stamping head 1, a downward pushing cylinder, and a downward pushing plate. The stamping cylinder 1 is fixed to the top of the pressing frame 1, and its output end is connected to... A stamping plate is connected, and a stamping seat is fixed below the stamping plate. A stamping head is inserted into the stamping seat and is movably connected to it. A positioning pin adapted to the inner hole of a bearing is inserted inside the stamping head. The positioning pin is slidably connected to the stamping head, and a spring connected to the stamping head is provided at the top of the positioning pin. Multiple magnets are provided at the bottom of the stamping head surrounding the positioning pin. A push-down cylinder is located on one side of the stamping head, and a push-down plate is provided at its output end. Preferably, a T-shaped hole extends from the end of the push-down plate away from the push-down cylinder. A downwardly extending push-down part is provided on each side of the opening end of the T-shaped hole. An opening groove is provided in the middle of the lower end of the stamping head, and the push-down part is inserted into the opening groove.

6. The lower planetary assembly equipment according to claim 5, characterized in that: The press-fitting mold includes a lower press-fitting plate, an upper press-fitting plate, a guide bar, and a buffer limiting block. The lower press-fitting plate is fixed above the press-fitting table. The upper press-fitting plate is located above the lower press-fitting plate and is elastically connected to the lower press-fitting plate by multiple springs arranged circumferentially along the upper press-fitting plate. The top of the upper press-fitting plate has a press-fitting positioning hole that mates with the outer side of the motor semi-finished product, and the bottom has a buffer column that is fixedly connected to it. The lower end of the buffer column is inserted into the lower press-fitting plate and is slidably connected to the lower press-fitting plate. The buffer limiting block is located directly below the punch head and mates with the buffer column. The guide bar is located on one side of the lower press-fitting plate. The outer side of the upper press-fitting plate has a sliding groove. The upper end of the guide bar is inserted into the sliding groove and is slidably connected to the sliding groove.

7. The lower planetary assembly equipment according to claim 5, characterized in that: The pressing mechanism one also includes a transverse moving assembly, which includes a transverse moving base and a linear slide rail assembly. One end of the transverse moving base is fixed to the workbench, and the other end is inserted into the inside of the pressing frame one and placed on a base located at the bottom of the pressing frame one. The linear slide rail assembly is located on the transverse moving base, and its output end is provided with a pressing platform one. The pressing mechanism one also includes a material loading platform, which is used to load the material to be pressed. It is arranged side by side with the pressing mold one on the pressing platform one along the moving direction of the transverse moving assembly.

8. The lower planetary assembly equipment according to claim 1 or 2, characterized in that: The pressing mechanism 2 and pressing mechanism 4 are respectively located on both sides of robot 2. The pressing mechanism 2 includes pressing table 2 and pressing frame 2 located above pressing table 2. The pressing table 2 is provided with pressing mold 2, and the pressing frame 2 is provided with pressing assembly 2. The pressing assembly 2 and pressing mold 2 cooperate to complete the pressing of the lower planetary carrier. The pressing assembly 2 includes a stamping cylinder 2, a stamping plate 2, and a stamping head 2. The stamping cylinder 2 is fixed on the top of the pressing frame 2, and its output end is connected to the stamping plate 2. A stamping seat 2 is fixed below the stamping plate 2. The stamping head 2 is inserted into the stamping seat 2 and is movably connected to the stamping seat 2. The bottom of the stamping head 2 is provided with a central boss that matches the inner hole of the lower planetary carrier. One side of the central boss is provided with a side pin that matches the lower planetary carrier. The lower end of the stamping head 2 is also provided with multiple air intake ports arranged around the outer side of the central boss. The inside of the stamping head 2 is provided with a vacuum suction chamber that communicates with the air intake ports.

9. The lower planetary assembly equipment according to claim 1, characterized in that: The pressing mechanism 4 includes a pressing table 4 and a pressing frame 4 located above the pressing table 4. The pressing table 4 is provided with a pressing mold 4, and the pressing frame 4 is provided with a pressing assembly 4. A guide assembly is also provided on one side of the pressing frame 4. The pressing assembly 4, the pressing mold 4, and the guide assembly cooperate to complete the pressing of the retaining ring. The pressing assembly 4 includes a stamping cylinder 4, a stamping plate 4, and a stamping head 4. The stamping cylinder 4 is fixed on the top of the pressing frame 4, and its output end is connected to the stamping plate 4. A stamping seat 4 is fixed below the stamping plate 4. The stamping head 4 is inserted into the stamping seat 4 and is movably connected to the stamping seat 4. The bottom of the stamping head 4 is provided with multiple circumferentially distributed magnets.

10. The lower planetary assembly equipment according to claim 9, characterized in that: The guiding assembly includes a support base, a transverse mounting base, and a guide ring. The support base is fixed above the workbench and has a slide rail assembly at its upper end. The transverse mounting base is slidably connected to the slide rail assembly, and a limiting plate fixedly connected to the support base is provided below the transverse mounting base. Multiple springs are provided between the limiting plate and the transverse mounting base, arranged along the sliding direction of the slide rail assembly. A guide cylinder is provided at the end of the transverse mounting base away from the pressing assembly. A guide seat is provided at the output end of the guide cylinder. The guide seat is slidably connected to the slide rail provided on the side of the transverse mounting base. The guide ring is provided at the end of the guide seat and has a tapered hole that is larger at the top and smaller at the bottom in the center.

11. The assembly method of the lower planetary assembly equipment according to any one of claims 1-10, characterized in that, Includes the following steps: S1. Feeding: The feeding mechanism transports each material to the picking position of the picking mechanism; S2. Press-fit bearing one: The material handling mechanism picks up bearing one and motor semi-finished product and places them into the pressing mechanism one. Then, the pressing mechanism one presses bearing one onto the motor semi-finished product. S3. Assemble bearing two. The material handling mechanism and the pressing mechanism two work together to complete the assembly of bearing two. S4. Pressing the lower planetary carrier: The material handling mechanism picks up the lower planetary carrier and places it on the pressing mechanism two. Then, the pressing mechanism two presses the lower planetary carrier onto the motor semi-finished product. S5. Press-fit bearing three: The material handling mechanism picks up bearing three and motor semi-finished product and places them into the pressing mechanism three. Then, the pressing mechanism three presses bearing three onto the motor semi-finished product. S6. Pressing the retaining ring: The material handling mechanism picks up the retaining ring and the motor semi-finished product and places them into the pressing mechanism four. Then, the pressing mechanism four presses the retaining ring onto the motor semi-finished product. S7. Unloading: The semi-finished motor with the planetary assembly pressed into place is unloaded through the feeding assembly and conveyor line and transported to the next process.

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