Full-automatic assembling equipment and method for planetary gear assembly and planetary gear assembly

Abstract

The invention discloses full-automatic assembling equipment and method for a planetary gear assembly and the planetary gear assembly. The full-automatic assembling equipment comprises a machining table, a planet carrier feeding mechanism, a supporting shaft assembling mechanism, a double-station planet wheel assembling mechanism, an inner gear ring assembling mechanism, a gland assembling mechanism, a finished product detecting mechanism, a discharging mechanism and a walking mechanism. The equipment is designed according to the structural characteristics of a planetary gear assembly, so that a planet carrier main body and a gland main body can be fed at a preset angle, and a lower shaft seat is matched with an assembly station seat, so that the planet carrier main body can form the preset angle when flowing to a plurality of assembly mechanisms; according to the method, a visual positioning scheme does not need to be matched during feeding and assembling, blind assembling can be directly carried out, the assembling cost is reduced, the assembling speed and precision are improved, a matched assembling visual detection method is provided, the detection and equipment control cost can be reduced, and meanwhile subsequent unnecessary part assembling of unqualified parts is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of high-precision part assembly, and particularly relates to a full-automatic assembly equipment for a planetary gear assembly, an assembly method and the planetary gear assembly. BACKGROUND

[0002] The planetary gear is a special arrangement of gear sets, which mainly comprises a sun gear in the middle and a plurality of planetary gears meshed with the outer side of the sun gear, and the outer part of the plurality of planetary gears is further provided with an inner ring gear concentric with the sun gear, and the inner ring gear is meshed with the plurality of planetary gears, so that the support of the rotating planetary gear, the sun gear or the outer ring gear can present different power output directions and power output gear ratios. The current gear box adopts downward gear as the main transmission structure.

[0003] When the planetary gear is assembled, the existing scheme is to set up a rotating table, install an assembly station on the rotating table, set up different assembly robots on the side of the rotating table, and use the assembly robots to sequentially grasp and place different parts for assembly. However, there are two particularly prominent problems in the existing scheme. Firstly, in the current assembly process, the planetary carrier is usually placed first, and then assembled on the planetary carrier in sequence. Each part assembly process needs to use a visual positioning scheme to ensure the assembly accuracy, which makes the overall control cost and assembly efficiency low. Secondly, in the existing assembly process, each step needs to be quality inspected to determine whether it is qualified before the next assembly is performed, which also causes the assembly speed to be very slow. If there is an error in the previous process, the subsequent parts do not need to be assembled, and if the assembly is continued, it will reduce the speed, and the disassembly at the later stage is more time-consuming and laborious, and the parts are easy to be damaged. To solve the above problems, a full-automatic assembly equipment for a planetary gear assembly, an assembly method and the planetary gear assembly are provided. SUMMARY

[0004] The present application aims to provide a full-automatic assembly equipment for a planetary gear assembly, an assembly method and the planetary gear assembly to solve the problems raised in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a full-automatic assembly equipment for a planetary gear assembly, comprising a machining table, a plurality of assembly station seats arranged in a ring array are rotationally arranged on the machining table, a planetary carrier feeding mechanism, a supporting shaft assembly mechanism, a double-station planetary gear assembly mechanism, an inner ring gear assembly mechanism, a gland assembly mechanism, a finished product detection mechanism and a discharging mechanism are sequentially and annularly arranged on the outer side of the plurality of assembly station seats on the machining table. The vibration feeding tray and walking mechanism for feeding different parts are arranged on the planetary carrier feeding mechanism, double-station planetary gear assembly mechanism, inner gear ring assembly mechanism and cover assembly mechanism respectively, and a plurality of the walking mechanisms are respectively provided with pneumatic clamps for grabbing different parts for assembly, the parts at the discharging end of the vibration feeding tray are grabbed and placed on the assembly station by the pneumatic clamps, and the parts are sequentially assembled on the assembly station and then discharged from the discharging mechanism; The first positioning guide strip is arranged at the output end of the vibration feeding tray on the planetary carrier feeding mechanism, so that the planetary carrier is placed on the assembly station at a preset angle, and the positioning groove and the emptying groove for positioning during assembly of the planetary carrier are arranged on the assembly station. The second positioning guide strip is arranged at the output end of the vibration feeding tray on the cover assembly mechanism, so that the cover is installed on the planetary carrier at a preset angle.

[0006] Preferably, the top of the machining table is fixedly provided with a support table, a rotating disc is rotatably arranged on the support table, the assembly station is annularly and fixedly arranged on the rotating disc, a servo motor is fixedly arranged at the top of the support table, the output end of the servo motor is coaxially fixed with the rotating disc, and a power cylinder is arranged in the support table to provide power for the planetary carrier feeding mechanism, support shaft assembly mechanism, double-station planetary gear assembly mechanism, inner gear ring assembly mechanism, cover assembly mechanism, finished product detection mechanism and discharging mechanism.

[0007] Preferably, the planetary carrier feeding mechanism comprises a first vibration disc and a planetary carrier conveying channel integrally formed at the output end of the first vibration disc, and the first positioning guide strips are fixedly arranged at the top of the planetary carrier conveying channel on both sides to form a first positioning gap between the two groups of first positioning guide strips. A group of the walking mechanisms are arranged at one side of the end of the planetary carrier conveying channel, a longitudinal two-claw pneumatic clamp is arranged at the output end of the walking mechanism, a feeding cylinder is fixedly arranged at one side of the end of the planetary carrier conveying channel, a pushing frame is fixedly arranged at the output end of the feeding cylinder, the pushing frame slides along the planetary carrier conveying channel, a pushing baffle is rotatably arranged in the pushing frame, one side of the pushing baffle abuts against the side wall of the pushing frame, so that the pushing baffle can move from the top of the planetary carrier to the front end of the two groups of planetary carriers, and then the frontmost group of planetary carriers is pushed forward, so that the two groups of planetary carriers at the front end have a clamping space for the longitudinal two-claw pneumatic clamp to insert.

[0008] Preferably, the supporting shaft assembly mechanism comprises a supporting frame fixed on the machining table, a second vibration disc is fixedly installed on the top of the supporting frame, a slide rail is fixedly arranged on one side of the supporting frame, a guide seat and a pressing plate are slidably arranged on the slide rail, an assembly pipe is fixedly installed on the bottom of the guide seat, a material ejecting needle is fixedly installed on the bottom of the pressing plate, a anti-off head is fixedly arranged at the bottom end of the material ejecting needle, the material ejecting needle penetrates through the guide seat and extends into the assembly pipe, the anti-off head is arranged in the guide seat, a return spring is movably sleeved on the outer wall of the material ejecting needle, a ejecting needle air cylinder and a connecting seat are fixedly installed on the top of the slide rail, the output end of the ejecting needle air cylinder is fixedly connected with the pressing plate, a discharging pipe is installed between the top of the connecting seat and the second vibration disc, a discharging pipe is installed between the bottom of the connecting seat and the guide seat, a pneumatic input pipe is installed on the side of the connecting seat, after the supporting shaft in the second vibration disc enters the connecting seat through the discharging pipe, air flow is injected into the discharging pipe through the pneumatic input pipe and discharged from the assembly pipe.

[0009] Preferably, the double-station planetary gear assembly mechanism comprises a third vibration disc and a planetary gear feeding channel fixedly installed on the output end of the third vibration disc, a group of walking mechanisms are fixedly installed on one side of the front end of the planetary gear feeding channel, and a double-station pneumatic clamp is fixedly installed on the walking mechanism, two groups of parallel slides are arranged in the planetary gear feeding channel, a material taking station is arranged at the front end of the planetary gear feeding channel, and a protruding portion is arranged in the front end of the slide to make the planetary gear protrude upward when moving along the slide to the material taking station, so as to facilitate the double-station pneumatic clamp to grab the planetary gear.

[0010] Preferably, the inner tooth ring assembly mechanism comprises a fourth vibration disc and an inner tooth ring feeding channel fixedly installed on the output end of the fourth vibration disc, a grabbing station is arranged at the front end of the inner tooth ring feeding channel, a group of walking mechanisms are fixedly installed on one side of the front end of the inner tooth ring feeding channel, a torsion motor is fixedly installed on the walking mechanism, and four-jaw pneumatic clamps are fixedly installed on the output end of the torsion motor.

[0011] Preferably, the gland assembly mechanism comprises a fifth vibration disc and a gland feeding channel fixedly installed on the output end of the fifth vibration disc, second positioning guide strips are fixedly assembled on both sides of the top of the gland feeding channel, so that a second positioning gap is naturally formed between the two groups of second positioning guide strips, a group of walking mechanisms are fixedly installed on one side of the front end of the gland feeding channel, a horizontally arranged two-jaw pneumatic clamp is installed on the walking mechanism, and a clamping window for the horizontally arranged two-jaw pneumatic clamp to take material is arranged at the front end of the gland feeding channel. A pressing plate is movably arranged on the inner bottom of the horizontally arranged two-jaw pneumatic clamp, an N-shaped frame is fixedly installed on the top of the pressing plate, a pressing air cylinder is fixedly installed on the walking mechanism, and the output end of the pressing air cylinder is fixedly connected with the N-shaped frame.

[0012] Preferably, the blanking mechanism comprises an inclined blanking channel fixedly arranged on the processing table, a group of the walking mechanisms are fixedly installed on one side of the top end of the inclined blanking channel, and a blanking pneumatic clamp is fixedly installed on the walking mechanism, a flap is rotatably arranged in the middle of the inclined blanking channel, a driving cylinder is rotatably connected to the bottom of the inclined blanking channel, a push rod is fixedly installed on the bottom of the flap, and the output end of the driving cylinder is movably hinged to the push rod. The finished product detection mechanism comprises an industrial image analyzer installed on one side of the inclined blanking channel, and an industrial camera is installed on each of the industrial image analyzer, the walking mechanism and the supporting shaft assembly mechanism, the driving cylinder is controlled to be extended or retracted according to the analysis result of the industrial image analyzer, so that the workpiece entering the inclined blanking channel can be selectively discharged from the middle or the end of the inclined blanking channel.

[0013] A full-automatic assembling method for a planetary gear assembly, comprising the following steps: S1, the industrial cameras on the walking mechanisms and the supporting shaft assembly mechanism respectively perform image detection on the assembled objects on the assembly station seats below, and transmit the images to the industrial image analyzer for waiting for judgment; S2, the industrial image analyzer performs comparison analysis on the images to determine whether the last assembly process is qualified, if yes, the assembly process corresponding to the position of the industrial camera is started, if not, the assembly station seat is marked, and the subsequent assembly process does not need to detect and perform assembly action on the assembly station seat; S3, the industrial camera on the industrial image analyzer performs secondary judgment on the final assembly object, if qualified, the driving cylinder is controlled to be kept in the contracted state, at this time, the assembly object is discharged from the end of the inclined blanking channel, if not, the driving cylinder is controlled to be extended, so that the flap is turned over, and the assembly object is discharged from the middle of the inclined blanking channel.

[0014] A planetary gear assembly, comprising a planet carrier main body, a planet shaft main body, a planet gear main body, an inner ring main body and a gland main body, the planet carrier main body is integrally formed with a transmission seat and a fixed shaft, the planet carrier main body is integrally formed with a lower shaft seat for assembling the planet shaft main body, the planet gear main body is assembled on the planet shaft main body, the inner ring main body is installed outside a plurality of the planet gear main bodies, the gland main body is installed on the top of the inner ring main body, and the gland main body is provided with a fixed hole matched with the fixed shaft, and the gland main body is integrally formed with an upper shaft seat for assembling the planet shaft main body. The fixed shafts and the lower shaft seats are alternately arranged at equal angles, and the outer side distance between two adjacent groups of the fixed shafts is the same as the first positioning gap width, so that the planet carrier main body moves along the first positioning gap at a preset angle. The lower shaft seat protrudes towards the bottom of the planet carrier body, and the lower shaft seat is matched with the positioning groove, and the transmission seat is matched with the avoidance groove, so that the planet carrier body is stopped on the assembly station; The upper shaft seat protrudes towards the top of the gland body, and the outer side distance of the two adjacent groups of upper shaft seats is the same as the second positioning gap width, so that the gland body moves along the second positioning gap at a preset angle.

[0015] The technical effects and advantages of the present application are: 1. The planetary gear assembly full-automatic assembly equipment is designed according to the structural characteristics of the planetary gear assembly. When the planet carrier body and the gland body are fed, the preset fixed shaft on the planet carrier body is matched with the first positioning guide bar for positioning, and the preset upper shaft seat on the gland body is matched with the second positioning guide bar for positioning, so that the two components that need to be accurately controlled in angle can be fed at a preset angle. The preset lower shaft seat on the planet carrier body is matched with the assembly station for positioning, so that the planet carrier body can be at a preset angle when flowing through the multiple assembly mechanisms, avoiding deflection. Finally, multiple parts do not need to be matched with a visual positioning scheme when feeding and assembling, and can be directly blind assembled, which can effectively reduce the overall assembly cost, while improving the assembly speed and precision.

[0016] 2. In the planetary gear assembly full-automatic assembly method, an industrial camera is installed on each assembly mechanism, and multiple assembly stations are sequentially numbered. During assembly, the industrial camera detects the operation result of the previous process. When it is judged that the operation result of the previous process is unqualified, the assembly station is marked as abnormal. From the industrial camera as the starting point, the subsequent multiple assembly mechanisms and industrial cameras do not need to start the assembly and detection process until the workpiece on the assembly station is removed from the inclined discharge channel. The abnormal mark of the assembly station is removed. In this way, during the entire multi-process assembly operation process, repeated detection and unnecessary assembly actions are not required, which can reduce detection and equipment control costs on the one hand, and also allows unqualified parts to reduce unnecessary part assembly, reduce subsequent disassembly difficulty, and improve part utilization. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole front side schematic view of the present application; Figure 2 It is a whole back side schematic view of the present application; Figure 3 It is a machining table outer surface structure schematic view of the present application; Figure 4 It is a planet carrier feeding mechanism outer surface schematic view of the present application; Figure 5The schematic diagram of the pushing frame structure of the present application is shown in the figure. Figure 6 The schematic diagram of the outer surface structure of the supporting shaft assembly mechanism of the present application is shown in the figure. Figure 7 The schematic diagram of the outer surface structure of the double-station planetary gear assembly mechanism of the present application is shown in the figure. Figure 8 The schematic diagram of the end part structure of the planetary gear feeding channel of the present application is shown in the figure. Figure 9 The schematic diagram of the inner gear ring assembly mechanism of the present application is shown in the figure. Figure 10 The schematic diagram of the cap assembly mechanism of the present application is shown in the figure. Figure 11 The schematic diagram of the outer surface structure of the transversely placed two-jaw pneumatic clamp of the present application is shown in the figure. Figure 12 The schematic diagram of the outer surface structure of the discharging mechanism of the present application is shown in the figure. Figure 13 The schematic diagram of the outer surface structure of the walking mechanism of the present application is shown in the figure. Figure 14 The schematic diagram of the planetary gear assembly and assembly station structure of the present application is shown in the figure. Figure 15 The exploded view of the front side structure of the planetary gear assembly of the present application is shown in the figure. Figure 16 The exploded view of the rear side structure of the planetary gear assembly of the present application is shown in the figure.

[0018] In the figure: 1, machining table; 12, power cylinder; 13, support table; 14, rotating disc; 15, assembly station; 152, emptying groove; 153, positioning groove; 16, servo motor; 2, planetary carrier feeding mechanism; 21, first vibrating disc; 22, planetary carrier conveying channel; 23, first positioning guide bar; 24, feeding cylinder; 25, pushing frame; 26, longitudinally placed two-jaw pneumatic clamp; 27, pushing baffle; 3, supporting shaft assembly mechanism; 31, support frame; 32, second vibrating disc; 33, sliding rail; 34, guide seat; 35, ejector pin cylinder; 36, pressing plate; 37, assembly pipe; 38, ejector pin; 39, return spring; 310, discharging pipe; 311, connecting seat; 312, discharging pipe; 313, pneumatic input pipe; 4, double-station planetary gear assembly mechanism; 41, third vibrating disc; 42, planetary gear feeding channel; 43, double-station pneumatic clamp; 44, sliding channel; 45, material taking station; 46, protruding part; 5, inner gear ring assembly mechanism; 51, fourth vibrating disc; 52, inner gear ring feeding channel; 53, grabbing station; 54, four-jaw pneumatic clamp; 55, torsion motor; 6, cap assembly mechanism; 61, fifth vibration disc; 62, cap feeding channel; 63, second positioning guide bar; 64, clamping window; 65, two-prong horizontal pneumatic clamp; 66, pressing plate; 67, pressing cylinder; 68, N-shaped frame; 7, finished product detection mechanism; 72, industrial camera; 8, blanking mechanism; 81, inclined blanking channel; 82, blanking pneumatic clamp; 83, flap; 84, driving cylinder; 85, push rod; 9, walking mechanism; 91, aluminum profile support; 92, X-axis rail; 93, Y-axis rail; 94, X-axis cylinder; 95, mechanical claw mounting position; 96, Y-axis cylinder; 101, planetary carrier body; 102, fixed shaft; 103, planetary shaft body; 104, planetary gear body; 105, inner ring gear body; 106, cap body; 107, transmission seat; 108, lower shaft seat; 109, fixing hole; 1010, upper shaft seat. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0020] Embodiment one, the present application provides a planetary gear assembly as shown in Figures 14-16 The planetary gear assembly comprises a planetary carrier body 101, a planetary shaft body 103, a planetary gear body 104, an inner ring gear body 105 and a cap body 106. The transmission seat 107 and the fixed shaft 102 are integrally formed on the planetary carrier body 101. The lower shaft seat 108 for assembling the planetary shaft body 103 is integrally formed on the planetary carrier body 101. The planetary gear body 104 is assembled on the planetary shaft body 103. The inner ring gear body 105 is installed outside the plurality of planetary gear bodies 104. The cap body 106 is installed on the top of the inner ring gear body 105. The fixing hole 109 adapted to the fixed shaft 102 is formed on the cap body 106. The upper shaft seat 1010 for assembling the planetary shaft body 103 is integrally formed on the cap body 106.

[0021] The fixed shaft 102 and the lower shaft seat 108 are alternately arranged at equal angles. The lower shaft seat 108 protrudes towards the bottom of the planetary carrier body 101. The upper shaft seat 1010 protrudes towards the top of the cap body 106.

[0022] Working principle; the planetary gear assembly is integrally formed with a plurality of equiangular fixed shafts 102 on the planetary carrier body 101, and a lower shaft seat 108 is arranged between each two fixed shafts 102, the planetary shaft body 103 is assembled through the lower shaft seat 108, then the planetary gear body 104 is installed on the planetary shaft body 103, then an inner ring gear body 105 is installed outside the planetary gear body 104, and finally the gland body 106 is installed at the end of the fixed shaft 102, so that the gland body 106 is fixedly assembled with the planetary carrier body 101, thereby limiting the planetary gear body 104 and the inner ring gear body 105, and the upper shaft seat 1010 for fixing the planetary shaft body 103 is integrally formed on the gland body 106, and the middle part of the gland body 106 is provided with an assembly window for assembling the sun gear.

[0023] Embodiment two, the embodiment provides a planetary gear assembly full-automatic assembly equipment as shown in Figures 1-16 The planetary gear assembly full-automatic assembly equipment is used for assembling the planetary gear assembly provided in embodiment one, and includes a machining table 1, a plurality of assembly station seats 15 are arranged in a ring array and rotate on the machining table 1, a planetary carrier feeding mechanism 2, a supporting shaft assembly mechanism 3, a double-station planetary gear assembly mechanism 4, an inner ring gear assembly mechanism 5, a gland assembly mechanism 6, a finished product detection mechanism 7 and a discharging mechanism 8 are sequentially and annularly arranged on the outer side of the plurality of assembly station seats 15 on the machining table 1; The planetary carrier feeding mechanism 2, the double-station planetary gear assembly mechanism 4, the inner ring gear assembly mechanism 5 and the gland assembly mechanism 6 are respectively provided with a vibration feeding disc and a walking mechanism 9 for feeding different parts, and a plurality of walking mechanisms 9 are respectively provided with pneumatic clamps for grabbing different parts for assembly, the parts at the discharging end of the vibration feeding disc are grabbed and placed on the assembly station seat 15 by the pneumatic clamps, and are sequentially assembled through the flow conversion of the assembly station seat 15 and then discharged from the discharging mechanism 8; The walking mechanism 9 includes an aluminum profile support 91 fixed to the machining table 1, an X-axis rail 92 is installed on the outer wall of the aluminum profile support 91 through bolts, an X-axis cylinder 94 is fixedly installed at one end of the X-axis rail 92, a Y-axis rail 93 is slidably arranged on the X-axis rail 92, and the output end of the X-axis cylinder 94 is fixedly connected with the Y-axis rail 93, a Y-axis cylinder 96 is fixedly installed at the top end of the Y-axis rail 93, a mechanical claw mounting position 95 is slidably arranged on the Y-axis rail 93, and the output end of the Y-axis cylinder 96 is fixedly connected with the mechanical claw mounting position 95, so that different pneumatic clamps are respectively installed on different mechanical claw mounting positions 95, and the pneumatic clamps are moved horizontally and vertically through the activation of the X-axis cylinder 94 and the Y-axis cylinder 96.

[0024] The first positioning guide strip 23 is installed on the output end of the vibration feeding disc on the planet carrier feeding mechanism 2, so that the planet carrier is placed on the assembly station seat 15 at a preset angle, and the assembly station seat 15 is provided with a positioning groove 153 and a clearance groove 152 for positioning when the planet carrier is assembled. The lower shaft seat 108 is matched with the positioning groove 153, and the transmission seat 107 is matched with the clearance groove 152, so that the planet carrier body 101 is rotationally stopped on the assembly station seat 15. The second positioning guide strip 63 is installed on the output end of the vibration feeding disc on the cover assembly mechanism 6, so that the cover is installed on the planet carrier at a preset angle.

[0025] The support table 13 is fixedly installed on the top of the machining table 1, the turntable 14 is rotationally arranged on the support table 13, the assembly station seat 15 is annularly and fixedly arranged on the turntable 14, the servo motor 16 is fixedly installed on the top of the inside of the support table 13, and the output end of the servo motor 16 is coaxially fixed with the turntable 14. The power cylinder 12 is installed in the inside of the support table 13 for providing power for the planet carrier feeding mechanism 2, the supporting shaft assembly mechanism 3, the double-station planet wheel assembly mechanism 4, the inner gear ring assembly mechanism 5, the cover assembly mechanism 6, the finished product detection mechanism 7 and the feeding mechanism 8.

[0026] The planet carrier feeding mechanism 2 comprises a first vibration disc 21 and a planet carrier conveying channel 22 integrally formed on the output end of the first vibration disc 21. The first positioning guide strip 23 is fixedly assembled on the top of the two sides of the planet carrier conveying channel 22, so that the first positioning gap is naturally formed between the two groups of first positioning guide strips 23. The outer side distance of the adjacent two groups of fixed shafts 102 is the same as the width of the first positioning gap, so that the planet carrier body 101 moves along the first positioning gap at a preset angle. A group of walking mechanisms 9 is installed on one side of the end of the planet carrier conveying channel 22, and the output end of the walking mechanism 9 is installed with a longitudinal two-claw pneumatic clamp 26. A feeding cylinder 24 is fixedly installed on one side of the end of the planet carrier conveying channel 22, and the output end of the feeding cylinder 24 is fixedly installed with a pushing rack 25. The pushing rack 25 slides along the planet carrier conveying channel 22. A pushing baffle 27 is rotationally arranged in the pushing rack 25, and one side of the pushing baffle 27 abuts against the side wall of the pushing rack 25, so that the pushing baffle 27 can move from the top of the planet carrier to the front end of the two groups of planet carriers, and then push the frontmost group of planet carriers forward, so that the front end of the two groups of planet carriers has a clamping space for the longitudinal two-claw pneumatic clamp 26 to insert.

[0027] The supporting shaft assembly mechanism 3 comprises a support frame 31 fixed on the machining table 1, a second vibration disc 32 fixedly installed on the top of the support frame 31, a sliding rail 33 fixedly arranged on one side of the support frame 31, a guide seat 34 and a pressing plate 36 slidingly arranged on the sliding rail 33, an assembly pipe 37 fixedly installed on the bottom of the guide seat 34, a material ejecting needle 38 fixedly installed on the bottom of the pressing plate 36, a anti-off head fixedly arranged at the bottom end of the material ejecting needle 38, the material ejecting needle 38 penetrating through the guide seat 34 and extending into the assembly pipe 37, the anti-off head being arranged in the guide seat 34, a reset spring 39 movably sleeved on the outer wall of the material ejecting needle 38, a needle cylinder 35 and a connecting seat 311 fixedly installed on the top of the sliding rail 33, the output end of the needle cylinder 35 being fixedly connected with the pressing plate 36, a discharging pipe 310 being installed between the top of the connecting seat 311 and the second vibration disc 32, a discharging pipe 312 being installed between the bottom of the connecting seat 311 and the guide seat 34, a pneumatic input pipe 313 being installed on the side of the connecting seat 311, and the supporting shaft in the second vibration disc 32 entering the connecting seat 311 through the discharging pipe 310, and then the air flow being sprayed into the discharging pipe 312 through the pneumatic input pipe 313 and being discharged from the assembly pipe 37.

[0028] The double-station planetary gear assembly mechanism 4 comprises a third vibration disc 41 and a planetary gear feeding channel 42 fixedly installed on the output end of the third vibration disc 41, a group of walking mechanisms 9 fixedly installed on one side of the front end of the planetary gear feeding channel 42, and a double-station pneumatic clamp 43 fixedly installed on the walking mechanism 9, two groups of parallel slideways 44 being arranged in the planetary gear feeding channel 42, a material taking station 45 being arranged at the front end of the planetary gear feeding channel 42, and a protruding part 46 being arranged inside the front end of the slideway 44, so that the planetary gear is upraised when moving along the slideway 44 to the material taking station 45, thereby facilitating the double-station pneumatic clamp 43 to grab the planetary gear.

[0029] The inner gear ring assembly mechanism 5 comprises a fourth vibration disc 51 and an inner gear ring feeding channel 52 fixedly installed on the output end of the fourth vibration disc 51, a grabbing station 53 being arranged at the front end of the inner gear ring feeding channel 52, a group of walking mechanisms 9 fixedly installed on one side of the front end of the inner gear ring feeding channel 52, a twist motor 55 fixedly installed on the walking mechanism 9, and a four-jaw pneumatic clamp 54 fixedly installed on the output end of the twist motor 55.

[0030] The gland assembly mechanism 6 comprises a fifth vibration disc 61 and a gland feeding channel 62 fixedly installed on the output end of the fifth vibration disc 61, a second positioning guide strip 63 being fixedly assembled on both sides of the top of the gland feeding channel 62, so that a second positioning gap is naturally formed between the two groups of second positioning guide strips 63, the outer side distance of the two groups of adjacent upper shaft seats 1010 being the same as the width of the second positioning gap, so that the gland main body 106 moves along the second positioning gap at a preset angle.

[0031] The front end of the cover feeding channel 62 is fixedly provided with a set of walking mechanisms 9, the walking mechanisms 9 are provided with transversely arranged two-claw pneumatic clamps 65, and the front end of the cover feeding channel 62 is provided with a clamping window 64 for the transversely arranged two-claw pneumatic clamps 65 to take materials; The inner bottom of the transversely arranged two-claw pneumatic clamp 65 is movably provided with a pressing plate 66, the top of the pressing plate 66 is fixedly provided with an N-shaped frame 68, the walking mechanism 9 is fixedly provided with a pressing air cylinder 67, and the output end of the pressing air cylinder 67 is fixedly connected with the N-shaped frame 68.

[0032] The discharging mechanism 8 comprises an inclined discharging channel 81 fixedly arranged on the machining table 1, a set of walking mechanisms 9 fixedly arranged on one side of the top end of the inclined discharging channel 81, and a discharging pneumatic clamp 82 fixedly arranged on the walking mechanism 9. The finished product detection mechanism 7 comprises an industrial image analyzer arranged on one side of the inclined discharging channel 81, and an industrial camera 72 arranged on the industrial image analyzer, the walking mechanism 9 and the supporting shaft assembly mechanism 3.

[0033] Working principle; when the device is used, the planetary carrier body 101, the planetary shaft body 103, the planetary gear body 104, the inner ring gear body 105 and the cover body 106 are respectively placed in the first to fifth vibration discs, and the vibration discs are continuously vibrated to feed materials, and the power cylinder 12 is connected with all pneumatic elements in the whole device through a multi-way valve to provide pneumatic force. The first stage, the first vibration disc 21 carries out the star frame main body 101 feeding, so that the planetary carrier main body 101 enters the planetary carrier conveying channel 22, and under the action of two groups of first positioning guide bars 23, the fixed shaft 102 on the planetary carrier main body 101 is close to the inner side of the two groups of first positioning guide bars 23, so that the planetary carrier main body 101 cannot rotate when moving on the planetary carrier conveying channel 22, and enters the end of the planetary carrier conveying channel 22 at a fixed angle, at this time the feeding cylinder 24 moves backward, so that the pushing frame 25 moves, the lower end of the pushing baffle 27 on the pushing frame 25 flips upward, moves from the top of the frontmost planetary carrier main body 101 to between the front two groups of planetary carrier main bodies 101, then the feeding cylinder 24 stops, at this time the pushing baffle 27 flips downward under the action of gravity and enters between the front two groups of planetary carrier main bodies 101, then the feeding cylinder 24 retracts, at this time the pushing baffle 27 pushes the frontmost group of planetary carrier main bodies 101 forward, so that a certain spacing is formed between the front two groups of planetary carrier main bodies 101, at this time the servo motor 16 drives the rotating disc 14 to rotate, so that the assembly station seat 15 moves to the lower side of the planetary carrier feeding mechanism 2, at this time the vertically placed two-claw pneumatic clamp 26 is moved to the top of the frontmost planetary carrier main body 101 by the walking mechanism 9, then it is lowered, the vertically placed two-claw pneumatic clamp 26 is gripped and grabbed to the planetary carrier main body 101, then it is reset, and then it is placed on the assembly station seat 15, completing the planetary carrier main body 101 feeding; The second stage, the servo motor 16 drives the rotating disc 14 to rotate, so that the assembly station seat 15 loaded with the planetary carrier main body 101 moves to the lower side of the supporting shaft assembly mechanism 3, the ejector pin cylinder 35 starts, pushes the pressing plate 36 and the guide seat 34 to move downward synchronously, at this time under the action of the reset spring 39, the ejector pin 38 does not move into the assembly pipe 37, and the bottom end of the assembly pipe 37 is just on the top of the lower shaft seat 108, at this time the planetary shaft main body 103 in the second vibration disc 32 enters the connecting seat 311 through the feeding pipe 310, then it is pushed by the pneumatic input pipe 313, so that the planetary shaft main body 103 enters the assembly pipe 37 through the discharge pipe 312, then the ejector pin cylinder 35 continues to move downward, so that the reset spring 39 is compressed, at this time the ejector pin 38 inserts into the assembly pipe 37 and pushes the planetary shaft main body 103 into the lower shaft seat 108, then the ejector pin cylinder 35 retracts, drives the pressing plate 36 and the guide seat 34 to move upward and reset, completing the planetary shaft main body 103 assembly; The third stage, the servo motor 16 drives the rotating disc 14 to rotate, so that the assembly station 15 loaded with the planet carrier body 101 and the planet shaft body 103 moves to the lower side of the first set of double-station planetary gear assembly mechanism 4, at this time the third vibration disc 41 feeds the planetary gear body 104 to the front end of the planetary gear feeding channel 42, and under the action of the protruding part 46, the two sets of planetary gear bodies 104 at the front end are lifted up by a distance, at this time the walking mechanism 9 drives the double-station pneumatic clamp 43 to clamp and assemble the two sets of planetary gear bodies 104 on the two sets of planet shaft bodies 103, and then the servo motor 16 drives the rotating disc 14 to rotate, so that the planet carrier body 101 moves to the lower side of the second set of double-station planetary gear assembly mechanism 4, and the second set of two planetary gear bodies 104 is assembled; The fourth stage, the servo motor 16 drives the rotating disc 14 to rotate, so that the assembly station 15 loaded with the planet carrier body 101, the planet shaft body 103 and the planetary gear body 104 moves to the lower side of the inner ring assembly mechanism 5, at this time the fourth vibration disc 51 feeds the inner ring body 105 to the front end of the inner ring feeding channel 52, at this time the walking mechanism 9 drives the four-jaw pneumatic clamp 54 to pick up the inner ring body 105 from the grabbing station 53 and move to the upper side of the planet carrier body 101, and then press and assemble, at this time the four-jaw pneumatic clamp 54 is driven by the torsion motor 55 to twist during the pressing process, so that the inner ring body 105 and the plurality of planetary gear bodies 104 are meshed and assembled; The fifth stage, the servo motor 16 drives the rotating disc 14 to rotate, so that the assembly station 15 loaded with the planet carrier body 101, the planet shaft body 103, the planetary gear body 104 and the inner ring body 105 moves to the lower side of the gland assembly mechanism 6, at this time the fifth vibration disc 61 feeds the gland body 106, and under the action of the second positioning guide strip 63, the upper shaft seat 1010 on the surface of the gland body 106 abuts against the inner side of the second positioning guide strip 63, so that the gland body 106 is fixed at an angle during feeding and cannot rotate, and finally the gland body 106 moves to the end of the gland feeding channel 62, at this time the horizontally placed two-jaw pneumatic clamp 65 places the gland body 106 on the fixed shaft 102 after clamping from the clamping window 64 position, and then the pressing cylinder 67 is started, the pressing plate 66 is driven by the N-shaped frame 68 to move downward, so that the pressing plate 66 presses the gland body 106 downward, so that the fixed shaft 102 is inserted into the fixed hole 109, so that the assembly of the gland body 106 is completed; In the sixth stage, the servo motor 16 drives the rotating disc 14 to rotate, so that the assembly station seat 15 loaded with the assembly product moves to the position below the industrial image analyzer, the final product detection is performed through the industrial camera 72 on the industrial image analyzer, whether the plurality of components is in place is judged according to the image, and then a "yes" or "no" signal is output to the driving cylinder 84, at this time the servo motor 16 drives the rotating disc 14 to rotate, so that the product moves to the position below the unloading mechanism 8, at this time the unloading pneumatic clamp 82 grabs the workpiece and places it in the inclined unloading channel 81, if it is "yes", the driving cylinder 84 remains stationary, at this time the workpiece slides out from the end of the inclined unloading channel 81, if it is "no", the driving cylinder 84 extends, and the push rod 85 pushes the flap 83 to turn upward, at this time the workpiece slides out from the opening in the middle of the inclined unloading channel 81, so as to complete the classification and unloading.

[0034] In embodiment three, a full-automatic assembly method for a planetary gear assembly is provided, which is applied to the full-automatic assembly equipment for the planetary gear assembly provided in embodiment two, so as to improve the assembly efficiency of the full-automatic assembly equipment, and the method comprises the following specific steps. S1, the walking mechanism 9 and the industrial camera 72 on the supporting shaft assembly mechanism 3 respectively perform image detection on the assembly on the assembly station seat 15 below, and transmit the image to the industrial image analyzer, and wait for judgment. S2, the industrial image analyzer performs comparison analysis on the image, judges whether the previous assembly process is qualified, if qualified, the corresponding assembly process of the position of the industrial camera 72 is started; if not qualified, the assembly station seat 15 is marked, and the subsequent assembly process does not need to detect and perform the assembly action on the assembly station seat 15; S3, the industrial camera 72 on the industrial image analyzer performs secondary judgment on whether the final assembly is qualified, if qualified, the driving cylinder 84 is controlled to remain in the contracted state, at this time the assembly product is unloaded from the end of the inclined unloading channel 81; if not qualified, the driving cylinder 84 is controlled to extend, so that the flap 83 is turned over, and the assembly product is unloaded from the middle of the inclined unloading channel 81.

[0035] Working principle; in the assembly method, by installing industrial camera 72 on each assembly mechanism, and by sequentially numbering a plurality of assembly station seats 15, during assembly, the industrial camera 72 detects the operation result of the previous process, when it is judged that the operation result of the previous process is unqualified, the assembly station seat 15 is marked as abnormal, from the industrial camera 72 as the starting point, the subsequent multiple assembly mechanisms and industrial cameras 72 do not need to start the assembly and detection process, until the workpiece on the assembly station seat 15 is removed from the inclined discharge channel 81, the abnormal mark of the assembly station seat 15 is removed, so that in the whole multi-process assembly operation process, repeated detection and unnecessary assembly operation are not required, on the one hand, the detection and equipment control cost can be reduced, on the other hand, the unqualified parts can reduce the unnecessary assembly of subsequent parts, reduce the difficulty of subsequent disassembly, and improve the utilization rate of parts.

[0036] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included in the protection scope of the present application.

Claims

1. A full-automatic assembling apparatus for a planetary gear assembly, characterized by comprising: The machining table (1) is provided with a plurality of assembly station seats (15) arranged in a ring array, and a planetary carrier feeding mechanism (2), a support shaft assembly mechanism (3), a double-station planetary gear assembly mechanism (4), an inner ring gear assembly mechanism (5), a gland assembly mechanism (6), a finished product detection mechanism (7) and a discharging mechanism (8) are arranged in a ring distribution around the outer side of the plurality of assembly station seats (15) in sequence. The planetary carrier feeding mechanism (2), the double-station planetary gear assembly mechanism (4), the inner ring gear assembly mechanism (5) and the gland assembly mechanism (6) are respectively provided with a vibrating feeding disc and a walking mechanism (9) for feeding different parts, and a plurality of walking mechanisms (9) are respectively provided with a pneumatic clamp for grabbing different parts for assembly. The vibrating feeding disc output end of the planetary carrier feeding mechanism (2) is provided with a first positioning guide strip (23) to enable the planetary carrier to be placed on the assembly station seat (15) at a preset angle, and the assembly station seat (15) is provided with a positioning groove (153) and a clearance groove (152) for positioning during planetary carrier assembly. The vibrating feeding disc output end of the gland assembly mechanism (6) is provided with a second positioning guide strip (63) to enable the gland to be installed on the planetary carrier at a preset angle.

2. A full-automatic assembling apparatus for planetary gear assembly according to claim 1, wherein The top of the machining table (1) is fixedly provided with a support table (13), the support table (13) is rotatably provided with a turntable (14), the assembly station seat (15) is fixedly arranged in a ring on the turntable (14), the inside top of the support table (13) is fixedly provided with a servo motor (16), and the output end of the servo motor (16) is coaxially fixed with the turntable (14), and the inside of the support table (13) is provided with a power cylinder (12) for providing power for the planetary carrier feeding mechanism (2), the support shaft assembly mechanism (3), the double-station planetary gear assembly mechanism (4), the inner ring gear assembly mechanism (5), the gland assembly mechanism (6), the finished product detection mechanism (7) and the discharging mechanism (8).

3. A fully automatic assembling apparatus for planetary gear assembly according to claim 2, wherein The planetary carrier feeding mechanism (2) comprises a first vibrating disc (21) and a planetary carrier conveying channel (22) integrally formed at the output end of the first vibrating disc (21), and the first positioning guide strips (23) are fixedly arranged at the top of both sides of the planetary carrier conveying channel (22) to form a first positioning gap between the two groups of first positioning guide strips (23). The end side of the planetary carrier conveying channel (22) is provided with a set of walking mechanisms (9), and the output end of the walking mechanism (9) is provided with a longitudinal two-claw pneumatic clamp (26). The end side of the planetary carrier conveying channel (22) is fixedly provided with a feeding cylinder (24), and the output end of the feeding cylinder (24) is fixedly provided with a pushing frame (25). The pushing frame (25) slides along the planetary carrier conveying channel (22), and the pushing frame (25) is rotatably provided with a pushing baffle (27). One side of the pushing baffle (27) abuts against the side wall of the pushing frame (25), so that the pushing baffle (27) can be moved from the top of the planetary carrier to the front end of the two sets of planetary carriers, and then the front end of the planetary carrier is pushed forward, so that the front end of the two sets of planetary carriers has a clamping space for the longitudinal two-claw pneumatic clamp (26) to insert.

4. The apparatus for full-automatic assembly of planetary gear assembly according to claim 2, characterized in that, The supporting shaft assembly mechanism (3) comprises a supporting frame (31) fixed on the machining table (1), a second vibration disc (32) fixedly installed on the top of the supporting frame (31), a sliding rail (33) fixedly arranged on one side of the supporting frame (31), a guide seat (34) and a pressing plate (36) slidably arranged on the sliding rail (33), an assembly pipe (37) fixedly installed on the bottom of the guide seat (34), a material lifting needle (38) fixedly installed on the bottom of the pressing plate (36), a anti-loose head fixedly arranged on the bottom end of the material lifting needle (38), and the material lifting needle (38) penetrates through the guide seat (34) and extends into the assembly pipe (37), the anti-loose head is arranged in the guide seat (34), a reset spring (39) is movably sleeved on the outer wall of the material lifting needle (38), a needle cylinder (35) and a connecting seat (311) are fixedly installed on the top of the sliding rail (33), the output end of the needle cylinder (35) is fixedly connected with the pressing plate (36), a discharging pipe (310) is arranged between the top of the connecting seat (311) and the second vibration disc (32), a discharging pipe (312) is arranged between the bottom of the connecting seat (311) and the guide seat (34), a pneumatic input pipe (313) is arranged on the side of the connecting seat (311), and the supporting shaft in the second vibration disc (32) enters the connecting seat (311) through the discharging pipe (310), and then the air flow is injected into the discharging pipe (312) through the pneumatic input pipe (313) and discharged from the assembly pipe (37).

5. The apparatus for fully automatic assembly of planetary gear assembly as claimed in claim 2 wherein, The double-station planetary gear assembling mechanism (4) comprises a third vibration disc (41) and a planetary gear feeding channel (42) fixedly installed at the output end of the third vibration disc (41), one side of the front end of the planetary gear feeding channel (42) is fixedly installed with a set of walking mechanisms (9), and the walking mechanism (9) is fixedly installed with a double-station pneumatic clamp (43), two parallel slide ways (44) are arranged in the planetary gear feeding channel (42), the front end of the planetary gear feeding channel (42) is provided with a material taking station (45), and the front end of the slide way (44) is internally provided with a protruding part (46), so that the planetary gear is raised upward when moving along the slide way (44) to the material taking station (45), thereby facilitating the double-station pneumatic clamp (43) to grab the planetary gear.

6. The apparatus for fully automatic assembly of planetary gear assemblies according to claim 2, characterized in that The inner gear ring assembling mechanism (5) comprises a fourth vibration disc (51) and an inner gear ring feeding channel (52) fixedly installed at the output end of the fourth vibration disc (51), the front end of the inner gear ring feeding channel (52) is provided with a grabbing station (53), one side of the front end of the inner gear ring feeding channel (52) is fixedly installed with a set of walking mechanisms (9), and the walking mechanism (9) is fixedly installed with a torsion motor (55), and the output end of the torsion motor (55) is fixedly installed with a four-jaw pneumatic clamp (54).

7. The apparatus for fully automatic assembly of planetary gear assemblies according to claim 2, characterized in that The gland assembling mechanism (6) comprises a fifth vibration disc (61) and a gland feeding channel (62) fixedly installed at the output end of the fifth vibration disc (61), the second positioning guide bars (63) are fixedly installed on both sides of the top of the gland feeding channel (62), so that the second positioning gaps are naturally formed between the two sets of second positioning guide bars (63), one side of the front end of the gland feeding channel (62) is fixedly installed with a set of walking mechanisms (9), the walking mechanism (9) is installed with a transversely arranged two-jaw pneumatic clamp (65), and the front end of the gland feeding channel (62) is provided with a clamping window (64) for the transversely arranged two-jaw pneumatic clamp (65) to take materials; The transversely arranged two-jaw pneumatic clamp (65) is movably provided with a pressing plate (66) at the inner bottom, the N-shaped frame (68) is fixedly installed on the top of the pressing plate (66), the pressing plate (66) is fixedly installed with a pressing plate (66), and the output end of the pressing plate (66) is fixedly connected with the N-shaped frame (68).

8. The apparatus for fully automatic assembly of planetary gear assembly as claimed in claim 4 wherein, The discharging mechanism (8) comprises an inclined discharging channel (81) fixedly arranged on the machining table (1), one side of the top end of the inclined discharging channel (81) is fixedly installed with a set of walking mechanisms (9), and the walking mechanism (9) is fixedly installed with a discharging pneumatic clamp (82), the middle part of the inclined discharging channel (81) is rotatably provided with a turning plate (83), the bottom of the inclined discharging channel (81) is rotatably connected with a driving cylinder (84), the bottom of the turning plate (83) is fixedly installed with a push rod (85), and the output end of the driving cylinder (84) is movably hinged with the push rod (85); The finished product detection mechanism (7) comprises an industrial image analyzer installed on one side of the inclined discharging channel (81), the industrial image analyzer, the walking mechanism (9) and the supporting shaft assembly mechanism (3) are all provided with an industrial camera (72), the driving cylinder (84) is controlled to be extended or retracted according to the analysis result of the industrial image analyzer, so that the workpiece entering the inclined discharging channel (81) can be selectively discharged from the middle or the end of the inclined discharging channel (81).

9. A method for the fully automatic assembly of planetary gear assemblies for use in the apparatus for the fully automatic assembly of planetary gear assemblies according to any one of claims 1 to 8, characterized in that The method comprises the following steps: S1, the industrial cameras (72) on the walking mechanism (9) and the supporting shaft assembly mechanism (3) respectively perform image detection on the assembly on the assembly station (15) below, and transmit the image to the industrial image analyzer, and wait for judgment; S2, the industrial image analyzer performs comparison analysis on the image, judges whether the last assembly process is qualified, if yes, the corresponding assembly process of the position where the industrial camera (72) is located is started; if not, the assembly station (15) is marked, and the subsequent assembly process does not need to detect and perform the assembly action on the assembly station (15); S3, the industrial camera (72) on the industrial image analyzer performs secondary judgment on whether the final assembly is qualified, if yes, the driving cylinder (84) is controlled to remain in the retracted state, at this time, the assembly is discharged from the end of the inclined discharging channel (81); if not, the driving cylinder (84) is controlled to be extended, so that the flap (83) is turned over, and the assembly is discharged from the middle of the inclined discharging channel (81).

10. A planetary gear assembly assembled by the fully automatic assembly apparatus for planetary gear assemblies according to any one of claims 1 to 8, characterized in that The planetary carrier main body (101), the planetary shaft main body (103), the planetary gear main body (104), the inner ring gear main body (105) and the gland main body (106) are provided, the transmission seat (107) and the fixed shaft (102) are integrally formed on the planetary carrier main body (101), the lower shaft seat (108) for assembling the planetary shaft main body (103) is integrally formed on the planetary carrier main body (101), the planetary gear main body (104) is assembled on the planetary shaft main body (103), the inner ring gear main body (105) is installed outside a plurality of the planetary gear main bodies (104), the gland main body (106) is installed on the top of the inner ring gear main body (105), and the fixed hole (109) matched with the fixed shaft (102) is formed on the gland main body (106), and the upper shaft seat (1010) for assembling the planetary shaft main body (103) is integrally formed on the gland main body (106); The fixed shaft (102) and the lower shaft seat (108) are alternately arranged at equal angles, and the outer side distance of the two adjacent groups of fixed shafts (102) is the same as the first positioning gap width, so that the planetary carrier main body (101) moves along the first positioning gap at a preset angle; The lower shaft seat (108) is raised towards the bottom of the planetary carrier main body (101), and the lower shaft seat (108) is matched with the positioning groove (153), and the transmission seat (107) is matched with the avoidance groove (152), so that the planetary carrier main body (101) is stopped on the assembly station (15). The upper shaft seat (1010) is raised to the top of the gland body (106), and the outer side distance between two adjacent groups of the upper shaft seat (1010) is the same as the width of the second positioning gap, so that the gland body (106) moves along the second positioning gap at a preset angle.

Images