Multi-shafting assembly system and method

Abstract

The invention discloses a multi-shafting assembling system and method.The multi-shafting assembling system comprises a multi-shafting bearing device, and the multi-shafting bearing device comprises a bearing frame and a bearing positioning device arranged on the bearing frame; the bearing and positioning device is used for bearing multi-shafting gears at the same time and allowing the multi-shafting gears to have an accurate positioning and rotatable meshing matching relation, so that the borne multi-shafting gears are assembled at the same time through the bearing and positioning device. According to the technical scheme, the multi-shafting gears are borne through the bearing and positioning device at the same time, synchronous assembly of the multi-shafting gears can be achieved, the rotatable meshing matching relation is established between the multi-shafting gears through the bearing and positioning device, and the in-box requirement that the multi-shafting gears need to be driven to rotate and assemble during assembly is met.

Description

Technical Field

[0001] This application relates to the field of mechanical assembly, and more specifically, to a multi-axis assembly system and assembly method. Background Technology

[0002] For example, in the production of new energy vehicles, assembling the shaft system into the gearbox is a critical process. Traditional shaft assembly generally adopts a method of sequentially inserting one shaft into the gearbox. The workflow is as follows: a general-purpose servo motor rotates a single gear shaft, and then electric actuators such as electric push rods or servo cylinders are used to press the shaft system lifting fixture and the single shaft it holds into the gearbox. After completing the insertion of one shaft system, the equipment repeats this process to assemble the next shaft system.

[0003] This traditional approach has several drawbacks: due to the sequential assembly of a single shaft, the entire assembly process is time-consuming; at the same time, to achieve precise drive and positioning, high-precision servo motors and electric actuators are required, resulting in high costs; moreover, rigid electric actuators have low tolerance for error during assembly, and it is difficult to make flexible fine adjustments if there is a deviation between the shaft system and the housing position during assembly. Operators often need to remove the entire shaft system lifting device, realign it, and then try to press it in again; with the development of new energy vehicle technology, there is a new demand for the simultaneous assembly of multiple helical gear shaft systems. These helical gears not only need to rotate synchronously during assembly, but also have strict height differences between them. Traditional single-shaft assembly equipment cannot achieve synchronous assembly of multiple gear systems, nor can it meet the control requirements for the height difference between gears when driving double helical gears.

[0004] Therefore, how to provide a solution that enables the synchronous assembly of multi-tooth shaft systems into the gearbox has become a technical problem that needs to be solved in this field. Summary of the Invention

[0005] In view of this, this application proposes a multi-axis assembly system, characterized in that the multi-axis assembly system includes a multi-axis bearing device, the multi-axis bearing device comprising: a bearing frame and a bearing positioning device disposed on the bearing frame, the bearing positioning device being used to simultaneously bear multi-axis gears and allow the multi-axis gears to have accurate positioning and rotatable meshing relationship, so as to simultaneously assemble the bearing multi-axis gears using the bearing positioning device; the bearing positioning device includes at least one set of shaft drive mechanisms and at least one set of shaft gripping mechanisms.

[0006] Optionally, the shaft drive mechanism includes a first gripping mechanism, which comprises: a first base portion, which serves as the main body of the first gripping mechanism and is mounted on the support platform of the support frame, so that the first gripper located below it has an interference-free gripping space; a first gripping part, which includes a first gripper driver mounted on the first base portion and a first gripper driven by the first gripper driver; and a first positioning part, which is located at the bottom of the first base portion and the center of the first gripper, for positioning the multi-shaft gear and establishing a rotatable meshing relationship.

[0007] Optionally, the first gripping mechanism further includes a rotating part, which can be manually operated to rotate circumferentially in a horizontal plane. The rotating part is connected to the first positioning part through a transmission shaft located inside the first base part, so that the rotation of the rotating part can drive the first positioning part to rotate synchronously through the transmission shaft. When the rotating part rotates, it can drive the multi-axis gear to rotate synchronously.

[0008] Optionally, the shaft gripping mechanism includes a second gripping mechanism, which comprises: a second base portion, which serves as the main body of the second gripping mechanism and is mounted on the support platform of the support frame, so that the second gripper located below it has an interference-free gripping space; a second gripping part, which includes a second gripper driver mounted on the second base portion and a second gripper driven by the second gripper driver; and a second positioning part, which is located at the bottom of the second base portion and the center of the second gripper, for positioning the multi-shaft gear.

[0009] Optionally, the shaft gripping mechanism includes a third picking mechanism, which comprises: a third base part, which is hung on the support platform of the support frame so that its lower part has an interference-free picking space; a third positioning part, the top of which is fixed to the bottom of the third base part for positioning the multi-shaft gear; a support part for supporting the multi-shaft gear; and a third driving part, which is mounted on the third base part and its driving rod is connected to the support part for driving the support part to perform reciprocating motion of extending and retracting, so as to realize its support and disengagement from the multi-shaft gear.

[0010] Optionally, the first gripping mechanism further includes an elastic floating component, which is placed in the central region of the first base portion to give the first gripping mechanism a degree of freedom for axial floating.

[0011] Optionally, the multi-axis bearing device further includes a counter-clamping mechanism, which is placed on the bearing platform and its horizontal position is adapted to the position of the elastic floating component. When the first gripping mechanism floats to a preset height, the counter-clamping mechanism prevents it from continuing to float.

[0012] Optionally, the multi-axis assembly system further includes a first support device, which includes a first sliding seat with a first hanging structure and a first support seat with a shaft positioning structure; in the gripping process, the carrier is detachably hung on the first hanging structure of the first sliding seat to allow the carrier to move down to above the multi-axis gear located on the first support seat for gripping; and the multi-axis assembly system further includes a second support device, which includes a second sliding seat with a second hanging structure and a second support seat with a housing part positioning structure; in the assembly process, the carrier is detachably hung on the second hanging structure of the second sliding seat to allow the multi-axis gear carried by the carrier positioning device to be simultaneously assembled into the housing supported by the housing part positioning structure of the second support seat.

[0013] Optionally, the first support device further includes: a first guide mechanism, which is arranged vertically on the facade of the first support device, and the first sliding seat is slidably connected to the first guide mechanism so that the first sliding seat can slide vertically relative to the first support device; and a first balancing mechanism, which is connected at its upper end to the first support device and at its lower end to the first sliding seat so that the first sliding seat can be suspended on the first guide mechanism.

[0014] Optionally, the second support device further includes: a second guide mechanism, which is arranged vertically on the facade of the second support device, and the second sliding seat is slidably connected to the second guide mechanism so that the second sliding seat can slide vertically relative to the first support device; and a second balancing mechanism, which is connected at its upper end to the second support device and at its lower end to the second sliding seat so that the second sliding seat can be suspended on the second guide mechanism.

[0015] Optionally, the second support device has two parallel crossbeams fixedly connected to its top. The second support device also includes a truss spanning and mounted on the two crossbeams. A slide rail is provided on each crossbeam, and the truss is slidably connected to the crossbeam via the slide rail. A second guide mechanism is mounted on the truss, and the truss can move the second guide mechanism to the assembly station for assembling multi-axis gears into the housing. The second support device also includes a heating device mounted on the truss, which moves to the heating station under the action of the truss for heating the housing.

[0016] According to another aspect of this application, a multi-axis assembly method is proposed, comprising: during the gripping process, as the shaft drive mechanism descends toward the multi-axis gear, a manual drive unit is manually driven to reciprocate in a horizontal plane, and this rotation is synchronously transmitted to the positioning unit of the shaft drive mechanism to find and achieve circumferential alignment between the positioning unit of the shaft drive mechanism and the multi-axis gear. After successful alignment, the shaft drive mechanism completes the positioning of the multi-axis gear and establishes a rotatable meshing relationship. Simultaneously, the gripper of the shaft drive mechanism switches to a clamping state, gripping a portion of the multi-axis gear. The shaft gripping mechanism descends synchronously with the shaft drive mechanism, completing the positioning of the multi-axis gear through the positioning unit of the shaft gripping mechanism, while the shaft gripping mechanism grips the remaining portion of the multi-axis gear. After successful gripping, the shaft drive mechanism and the shaft gripping mechanism are simultaneously lifted.

[0017] Optionally, during the assembly process, the disc drive is manually driven to transmit power to the multi-axis gear, causing the multi-axis gear to rotate during operation. The shaft drive mechanism, the shaft gripping mechanism, and the multi-axis gear they carry are simultaneously lowered to the top of the housing. Subsequently, the multi-axis gear is placed into the mounting cavity of the housing to complete the assembly.

[0018] Optionally, in the gripping process, the operator manually assembles the various parts on the first support seat into a multi-axis gear system with a meshing relationship; the operator holds the operating unit and manually pushes and pulls the multi-axis bearing device, which includes the shaft drive mechanism and the shaft gripping mechanism, suspended in the suspension conveying system, to move it above the first support device; the position is adjusted so that the multi-axis bearing device is lowered onto the first hanging structure; the multi-axis bearing device descends with the first sliding seat, and after reaching the target position, it grips the multi-axis gear located on the first support seat; in the assembly process: the operator holds the operating unit and unloads the multi-axis bearing device and its carried multi-axis gear from the first support device, and manually pushes and pulls the multi-axis bearing device suspended in the suspension conveying system to move it above the second support device; the position is adjusted so that the multi-axis bearing device is lowered onto the second hanging structure; the multi-axis bearing device descends vertically along the second guide mechanism, and after reaching the target position, the multi-axis gear is placed into the mounting cavity of the housing to complete the assembly.

[0019] Optionally, during the assembly process, before the multi-axis gear is inserted into the housing, the heating device heats the housing first, so that the housing is in a state of thermal expansion, and then the multi-axis gear is assembled into the mounting cavity of the housing.

[0020] According to the technical solution of this application, the multi-axis gears can be simultaneously supported by the multi-axis bearing device, which can realize the synchronous assembly of the multi-axis gears. Furthermore, the bearing positioning device can establish a rotatable meshing relationship between the multi-axis gears, thus meeting the requirement of driving the multi-axis gears to rotate while being assembled during assembly.

[0021] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0022] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application, and the illustrative embodiments and descriptions thereof are used to explain this application. In the drawings: Figure 1 This is a perspective view of a multi-axis bearing device according to a preferred embodiment of this application; Figure 2 A three-dimensional schematic diagram (top view) of a multi-axis bearing device according to a preferred embodiment of this application; Figure 3 This is a perspective view of the first support device according to a preferred embodiment of this application; Figure 4 This is a partially enlarged schematic diagram of the first support device according to a preferred embodiment of this application; Figure 5 A perspective view of the first gripping mechanism according to a preferred embodiment of this application; Figure 6A perspective view of the second gripping mechanism according to a preferred embodiment of this application; Figure 7 This is a perspective view of the third picking mechanism and support frame according to a preferred embodiment of this application; Figure 8 A perspective view (from below) of the third picking mechanism and support frame according to a preferred embodiment of this application. Figure 9 This is a perspective view of the second support device according to a preferred embodiment of this application; Figure 10 This is a partially enlarged schematic diagram of the second support device according to a preferred embodiment of this application; Figure 11 A perspective view (rear view) of the second support device according to a preferred embodiment of this application; Figure 12 This is an exploded view of the anti-pressing mechanism according to a preferred embodiment of this application; Figure 13 This is a cross-sectional view of the first gripping mechanism according to a preferred embodiment of this application.

[0023] Explanation of the attached drawing numbers: Multi-axis gear 00, multi-axis bearing device 10, first support device 20, second support device 30 and housing 40.

[0024] The multi-axis bearing device 10 includes a bearing frame 11 (including a bearing platform 111, a support structure 112, a lifting ring 113, and a hook 114), a bearing positioning device 12, a backing and pressing mechanism 13 (including a blocking part 131), and an operating part 14; the bearing positioning device 12 includes a first gripping mechanism 121 (including a first base part 1211, a first gripper driver 1212, a first gripper 1213, a first positioning part 1214, a rotating part 1215, an elastic floating component 1216, a guide groove 1217, and a cylindrical pin 1218), a second gripping mechanism 122 (including a second base part 1221, a second gripper driver 1222, a second gripper 1223, and a second positioning part 1224), and a third picking mechanism 123 (including a third base part 1231, a third positioning part 1232, a supporting part 1233, and a third driving part 1234); The first support device 20 includes a first sliding seat 21 (including a first hanging structure 211), a first support seat 22, a first guide mechanism 23, and a first balancing mechanism 24; The second support device 30 includes a second sliding seat 31 (including a second hanging structure 311), a second support seat 32, a second guide mechanism 33, a second balancing mechanism 34, a crossbeam 35, a truss 36, a heating device 37, and pins and holes 39. Detailed Implementation

[0025] The technical solution of this application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] This application provides a multi-axis assembly system, which includes a multi-axis bearing device 10. The multi-axis bearing device 10 includes a bearing frame 11 and a bearing positioning device 12 disposed on the bearing frame 11. The bearing positioning device 12 is used to simultaneously bear multi-axis gears 00 and allow the multi-axis gears 00 to have accurate positioning and rotatable meshing relationship, so as to simultaneously assemble the multi-axis gears 00 carried by the bearing positioning device 12.

[0027] According to the technical solution of this application, the multi-axis gear 00 can be simultaneously supported by the bearing positioning device 12, which enables the synchronous assembly of the multi-axis gear 00. Furthermore, the bearing positioning device 12 establishes a rotatable meshing relationship between the multi-axis gear 00, thus meeting the requirement of driving the multi-axis gear 00 to rotate while being assembled during assembly.

[0028] To simultaneously grip and drive the rotation of the multi-axis gear system 00, the bearing positioning device 12 includes at least one set of shaft drive mechanisms and at least one set of shaft gripping mechanisms. The shaft drive mechanisms grip and hold some of the shaft gears in the multi-axis gear system 00 and drive their rotation; the shaft gripping mechanisms cooperate with the shaft drive mechanisms to grip other gears meshing with that set of shaft gears. Through the coordinated action of the shaft drive mechanisms and the shaft gripping mechanisms, the entire multi-axis gear system 00 can be simultaneously gripped and driven.

[0029] like Figure 5 As shown, the shaft drive mechanism in this embodiment is a first gripping mechanism 121, which includes a first base part 1211, a first gripping part, and a first positioning part 1214. The first base part 1211, as the main body of the first gripping mechanism 121, is mounted on the support platform 111 of the support frame 11, so that the first gripper 1213 located below it has an interference-free gripping space; Figure 7It is known that a support structure 112 is provided on the support platform 111. The plane of the support structure 112 and the support platform 111 have through holes for accommodating the first base part 1211. The first base part 1211 adopts an axially separable design. During assembly, the first base part 1211 is first separated into upper and lower parts, which are placed above and below the through holes on the support structure 112 and the support platform 111, respectively. Then, the two parts of the first base part 1211 are reconnected and fixed in the through hole area to complete the assembly. The bottom surface dimension of the head of the first base part 1211 is slightly larger than the through hole dimension. The head of the first base part 1211 is placed on the support structure 112, so that the first base part 1211 can be hung on the support platform 111. The first gripping part includes a first gripper driver 1212 installed on the first base part 1211 and a first gripper 1213 driven by the first gripper driver 1212; the first gripper driver 1212 is used to control the opening and closing of the first gripper 1213. The first positioning part 1214 is located at the bottom of the first base part 1211 and the center of the first gripper 1213, and is used to position the multi-shaft gear 00 and establish a rotatable meshing relationship. The specific form of the first positioning part 1214 matches the structure of the shaft gear. As an example, the first positioning part 1214 is a spline sleeve, and the corresponding shaft gear to be gripped by the first gripper 1213 has a spline shaft in the middle. The spline shaft is connected to the spline sleeve through its external spline. Through the meshing action of the spline pair, the first positioning part 1214 can achieve circumferential positioning of the shaft gear and can transmit torque, establishing a rotatable meshing relationship.

[0030] To simplify the control of the spline assembly process and avoid the unadjustability of the motor assembly, allowing the operator to make real-time precise fine adjustments to the gear meshing of the spline assembly based on feel and vision, a manual drive method is selected, and a dedicated operating handle is provided. Preferably, the first gripping mechanism 121 further includes a rotating part 1215, which can be manually operated to rotate circumferentially in the horizontal plane. The rotating part 1215 is connected to the first positioning part 1214 via a transmission shaft located inside the first base part 1211. When the worker drives the rotating part 1215, the rotation of the rotating part 1215 can drive the first positioning part 1214 to rotate synchronously via the transmission shaft. Thus, the spline sleeve of the first positioning part 1214 drives the spline shaft, thereby driving the multi-axis gear 00 to rotate synchronously.

[0031] like Figure 6As shown, the shaft gripping mechanism in this embodiment is a second gripping mechanism 122, which includes a second base part 1221, a second gripping part, and a second positioning part 1224. The second base part 1221 serves as the main body of the second gripping mechanism 122 and is mounted on the support platform 111 of the support frame 11, so that the second gripper 1223 located below it has an interference-free gripping space. Similar to the first gripping mechanism 121, the support platform 111 also has a through hole to accommodate the second base part 1221, which is axially separable. During assembly, the second base part 1221 is first split into upper and lower parts, which are placed above and below the through hole on the support platform 111, respectively. Then, the two parts of the second base part 1221 are reconnected and fixed within the through hole area to complete the assembly. Therefore, the head of the second base part 1221 can be placed on the support platform 111, allowing the second base part 1221 to be mounted on the support platform 111. The second gripping part includes a second gripper driver 1222 mounted on the second base part 1221 and a second gripper 1223 driven by the second gripper driver 1222; the second gripper driver 1222 controls the opening and closing of the second gripper 1223. A second positioning part 1224 is located at the bottom of the second base part 1221 and at the center of the second gripper 1223, and is used to position the multi-axis gear 00. The specific form of the second positioning part 1224 matches the structure of the multi-axis gear 00. As an example, for instance... Figure 6 As shown, the second centering part is a protrusion, and the corresponding shaft gear to be gripped by the second gripper 1223 has a matching concave part in the middle. The positioning of the shaft gear is completed by the cooperation of the concave and convex structures.

[0032] When the number of components in a multi-shaft gear system is large, in order to simultaneously grasp them, and also as another form of shaft gripping mechanism provided in this embodiment, such as... Figure 7-8As shown, the shaft gripping mechanism in this embodiment also includes a third picking mechanism 123, which includes a third base part 1231, a third positioning part 1232, and a support part 1233. The third base part 1231 is hung on the support platform 111 of the support frame 11 so that its lower part has an interference-free picking space. The suspension form includes, but is not limited to, the top of the third base part 1231 having a thread and the bottom surface of the corresponding support platform 111 having a threaded hole, the two being connected by threads or fixed by welding; the top of the third positioning part 1232 is fixed to the bottom of the third base part 1231 for positioning the multi-shaft gear 00. The specific form of the third positioning part 1232 matches the structure of the multi-shaft gear 00. As an example, the third positioning part 1232 is multiple shafts, and the corresponding multi-shaft gear 00 to be positioned has multiple center holes. By inserting the shafts into the center holes of the gears and cooperating with them, the radial positioning of the multi-shaft gear 00 is achieved; the support part 1233 is used to support the multi-shaft gear 00. The top of the support part 1233 is fixed to the bottom of the third base part 1231, and its bottom has a support plate for supporting the multi-axis gear 00. During operation, the third positioning part 1232 and the support part 1233 move downward together as a whole; then, the third positioning part 1232 centers the multi-axis gear 00; after positioning, the support part 1233 moves horizontally toward the multi-axis gear 00, and moves together with the support plate below it, so that the support plate reaches below the target gear, thereby supporting the multi-axis gear 00 from the bottom, and together with the third positioning part 1232, completes the gripping action.

[0033] The translational movement of the support part 1233 can be adjusted manually. To further improve the automation and efficiency of the operation, preferably, the third picking mechanism 123 has a third driving part 1234, which is mounted on the third base part 1231. Its driving rod is connected to the support part 1233. The extension and retraction of the driving rod are used to drive the reciprocating translational movement of the support part 1233, so as to realize its support and disengagement from the multi-axis gear 00.

[0034] During the gripping process, as the shaft drive mechanism (i.e., the first gripping mechanism 121 in this embodiment) descends toward the multi-shaft gear 00, the manual drive unit 1215 is manually driven to reciprocate in the horizontal plane, and this rotation is synchronously transmitted to the positioning unit of the shaft drive mechanism (i.e., the first positioning unit 1214 in this embodiment) to find and achieve circumferential alignment between the positioning unit of the shaft drive mechanism and the multi-shaft gear 00. After successful alignment, the shaft drive mechanism completes the positioning of the multi-shaft gear 00 and establishes a rotatable meshing relationship. At the same time, the shaft drive mechanism... The gripper (in this embodiment, the first gripper 1213) of the mechanism switches to a gripping state and grasps a portion of the multi-axis gear 00; the shaft gripping mechanism (in this embodiment, the second gripping mechanism 122 and the third picking mechanism 123) descends synchronously with the shaft drive mechanism, and the positioning part of the shaft gripping mechanism (in this embodiment, the second positioning part 1224 and the third positioning part 1232) completes the positioning of the multi-axis gear 00; at the same time, the shaft gripping mechanism grasps the remaining part of the multi-axis gear 00; after the shaft drive mechanism and the shaft gripping mechanism successfully grasp the gear, they rise synchronously.

[0035] To facilitate unified control and allocation, the multi-axis bearing device 10 also includes an operating unit 14, such as... Figure 2 As shown, the operating unit 14 is constructed of two parallel steel pipes. The top of the steel pipes is fixedly connected to the support platform 111, and the bottom end of the steel pipes is equipped with an operating handle and an operating button. The operating unit 14 is used to control the overall movement of the support frame 11 to move closer to or away from the multi-axis gear 00 located below the support frame 11. The operating unit 14 is also connected to and controls the first gripper driver 1212, the second gripper driver 1222, and the third drive unit 1234, thereby driving the first gripper 1213 and the second gripper 1223 to perform gripping and releasing operations and driving the support unit 1233 to perform forward and backward displacement operations, respectively.

[0036] To facilitate direct insertion of the multi-axis gear 00 into the gearbox after gripping, the multi-axis gear 00 needs to be assembled before gripping. This involves pre-assembling the axial mounting height and circumferential phase of each gear to ensure consistency with its final working position within the gearbox. To ensure a smooth and coordinated assembly and gripping process, preferably, as follows... Figure 3 As shown, the multi-axis assembly system includes a first support device 20, which includes a first sliding seat 21 having a first hanging structure 211 and a first support seat 22 having a shaft positioning structure. During the gripping process, the carrier 11 is detachably hung on the first hanging structure 211 of the first sliding seat 21, allowing the carrier 11 to move down above the multi-axis gear 00 located on the first support seat 22 for gripping. Figure 2As shown, the top of the support frame 11 has a lifting ring 113. When the multi-axis support device 10 is not in operation, it is suspended in the overhead conveyor system of the operating room via the lifting ring 113. During operation, firstly, the various parts are manually assembled on the first support seat 22 into a multi-axis gear 00 with intermeshing relationships; the operator holds the operating part 14 and manually pushes and pulls to move the multi-axis support device 10 suspended in the overhead conveyor system above the first support device 20; the position is adjusted so that the multi-axis support device 10 is lowered onto the first hanging structure 211. As an example, [further details are needed]. Figure 2-3 As shown, the support platform 111 has two hooks 114 on its back. The hooks 114 are hung on the first mounting structure 211, so that the first mounting structure 211 can mount the multi-axis support device 10. As the first sliding seat 21 descends, the multi-axis support device 10 grabs the multi-axis gear 00 located on the first support seat 22 after it reaches the target position.

[0037] To reduce the difficulty of operation during descent, balance the weight of the components, and provide vertical guidance, such as... Figure 3-4 As shown, the first support device 20 further includes a first guide mechanism 23 and a first balancing mechanism 24. The first guide mechanism 23 is arranged vertically on the facade of the first support device 20, and the first sliding seat 21 is slidably connected to the first guide mechanism 23 so that the first sliding seat 21 can slide vertically relative to the first support device 20. As an embodiment, the first guide mechanism 23 consists of two circular guide rails fixed on the facade of the first support device 20, and the first sliding seat 21 has a groove at a corresponding position that matches the size of the circular guide rails. The upper end of the first balancing mechanism 24 is connected to the first support device 20, and the lower end is connected to the first sliding seat 21, so that the first sliding seat 21 can be suspended on the first guide mechanism 23. The first balancing mechanism 24 is a gravity balancing device, and its upper and lower sides are connected to other devices through connection interfaces (such as hooks or rings). During operation, the first balancing mechanism 24 is hung at a high position on the first support device 20 through the upper interface to leave necessary operating space for the gripping work below, and is connected to the first sliding seat 21 through the lower interface. The first balancing mechanism 24 can lift the first sliding seat 21 and offset most of the weight of the first sliding seat 21 and the multi-axis support device 10 mounted on it, so that the operator only needs to apply a small force to achieve easy, stable and precise movement and positioning of the multi-axis support device 10. Specifically, during operation, by gently dragging the hand-held operating part 14, the multi-axis support device 10 can move precisely and steadily vertically along the first guide mechanism 23, which facilitates the gripping and transfer of the multi-axis gear 00.

[0038] When gripping the multi-axis gear 00, the first gripping mechanism 121, the second gripping mechanism 122, and the third picking mechanism 123 move downwards synchronously, attached to the support frame 11. Since the multi-axis gears 00 are often not flush, as an example, such as... Figure 1 As shown, in this embodiment, the gear to be gripped corresponding to the first gripping mechanism 121 is higher than the gears to be gripped corresponding to the second gripping mechanism 122 and the third picking mechanism 123. To prevent the second gripping mechanism 122 and the third picking mechanism 123 from failing to grip or not gripping properly after the first gripping mechanism 121 has finished gripping, preferably, the first gripping mechanism 121 further includes: an elastic floating component 1216, which is placed in the middle region of the first base portion 1211 to give the first gripping mechanism 121 a degree of freedom of axial floating. Figure 13 As shown, the lower structure of the first gripping mechanism 121 (including the first gripper driver 1212, the first gripper 1213, and the first positioning part 1214) is integrated as a whole and is pinned to the guide groove 1217 of the transmission shaft inside the first gripping mechanism 121 by a cylindrical pin 1218. The guide groove 1217 provides space for the cylindrical pin 1218 to move up and down, so that the lower structure of the first gripping mechanism 121 can move up and down along the transmission shaft inside it. The upper end of the elastic floating component 1216 is connected to the bottom surface of the head of the first base part 1211, and the lower end is connected to the top surface of the lower structure of the first gripping mechanism 121. Thus, after the first gripping mechanism 121 has finished gripping, the carrier 11 can continue to move down with the second gripping mechanism 122 and the third picking mechanism 123 by compressing the elastic floating component 1216 until the gripping work of the multi-axis gear 00 is completed.

[0039] To prevent the vertical displacement of the shaft gear gripped by the first gripping mechanism 121 relative to other shaft gears due to the floating action of the elastic floating component 1216, which could disrupt the meshing relationship between the gears, the multi-shaft support device 10 preferably further includes a counter-clamping mechanism 13. This counter-clamping mechanism 13 is placed on the support platform 111, and its horizontal position is adapted to the position of the elastic floating component 1216. The counter-clamping mechanism 13 has a blocking part 131 and a driving part that extends or retracts the blocking part 131. The driving part is controlled by the operating part 14. The blocking part 131 has a U-shaped groove, the size of which is slightly larger than the size of the elastic floating component 1216. When the blocking part 131 extends, pushing the U-shaped groove can lock the structural plane of the first base part 1211 located below the elastic floating component 1216, thereby preventing the first gripping mechanism 121 from continuing to float upwards under the action of the elastic floating component 1216, thus maintaining the relative height difference between the multi-shaft gears 00.

[0040] Once the multi-axis gear 00 is successfully gripped, it can be moved to the assembly station for placement into the housing. Preferably, as follows: Figure 9 As shown, the multi-axis assembly system includes a second support device 30, which includes a second sliding seat 31 having a second hanging structure 311 and a second support seat 32 having a housing 40 part positioning structure. In the assembly process, the carrier frame 11 is detachably hung on the second hanging structure 311 of the second sliding seat 31 to allow the multi-axis gear 00 carried by the carrier positioning device 12 to be simultaneously assembled into the housing 40 supported by the housing 40 part positioning structure of the second support seat 32.

[0041] In this embodiment, the second sliding seat 31 is configured to be vertically movable along the second support device 30. The second hanging structure 311 is mounted on the second sliding seat 31, and its function is to serve as the receiving unit for the multi-axis bearing device 10 to move from the gripping station to the assembly station, and to carry the multi-axis bearing device 10 and the second sliding seat 31 to move vertically along the second support device 30 after the multi-axis bearing device 10 lands.

[0042] To increase the stability and reliability of the connection, in this embodiment, the second mounting structure 311 is a planar plate structure with a size similar to or slightly larger than the support platform 111. The multi-axis support device 10 uses the second mounting structure 311 as a landing point to lower the support platform 111 onto the second mounting structure 311. Preferably, the second mounting structure 311 and the support platform 111 are fixedly connected by interlocking pins and holes 39. This achieves secure positioning and tight fit between the two through the interference or transition fit of the pins and holes.

[0043] like Figure 9-10 As shown, similar to the first support device 20, the second support device 30 also includes a second guide mechanism 33 and a second balancing mechanism 34. The second guide mechanism 33 is arranged vertically on the facade of the second support device 30. The second sliding seat 31 is slidably connected to the second guide mechanism 33, allowing the second sliding seat 31 to slide vertically relative to the first support device 20. The upper end of the second balancing mechanism 34 is connected to the second support device 30, and the lower end is connected to the second sliding seat 31, allowing the second sliding seat 31 to be suspended on the second guide mechanism 33. The second guide mechanism 33 is largely the same as the first guide mechanism 23, and the second balancing mechanism 34 is similar to the first balancing mechanism 24, and will not be described further here. The second balancing mechanism 34 allows for free vertical control, making it easier to adjust the position during assembly and solving the previous problem of inaccurate positioning during assembly.

[0044] In the assembly process: the operator holds the operating unit 14 and unloads the multi-axis bearing device 10 and its carried multi-axis gear 00 from the first support device 20. The multi-axis bearing device 10, which is suspended in the suspension conveyor system, is moved to the top of the second support device 30 by manual pushing and pulling. The position is adjusted so that the multi-axis bearing device 10 is lowered onto the second hanging structure 311. The multi-axis bearing device 10 descends vertically along the second guide mechanism 33. After it reaches the target position, the operator manually drives the disc drive 1215, which transmits power to the multi-axis gear 00, so that the multi-axis gear 00 is in the rotating state during operation. The shaft drive mechanism and the shaft gripping mechanism and their carried multi-axis gear 00 descend synchronously to the top of the housing 40. Then, the multi-axis gear 00 is placed into the mounting cavity of the housing 40 to complete the assembly.

[0045] To increase the fit between the mounting holes of the housing 40 and the shaft system, facilitating insertion into the housing, the second support device 30 preferably further includes a heating device 37 for heating the housing 40. During the assembly process, before the multi-shaft gear 00 is inserted into the housing, the heating device 37 heats the housing 40, causing it to be in a state of thermal expansion, at which point the multi-shaft gear 00 is assembled into the mounting cavity of the housing 40.

[0046] For ease of heating operation, such as Figure 11 As shown, the second support device 30 has two parallel crossbeams 35 fixedly connected to its top. The second support device 30 also includes a truss 36, which spans and is mounted on the two crossbeams 35. Slide rails are provided on the crossbeams 35, and the truss 36 is slidably connected to the crossbeams 35 via these slide rails. A second guide mechanism 33 is vertically mounted on the truss 36, and the truss 36 can move the second guide mechanism 33 to the assembly station for assembling the multi-axis gear 00 into the housing 40. A heating device 37 is mounted on the truss 36 and can be moved to the heating station by the truss 36. The movable truss 36 allows for convenient switching between heating and assembly operations.

[0047] The preferred embodiments of this application have been described in detail above. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0048] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0049] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed in this application.

Claims

1. A multi-axis assembly system, characterized in that, The multi-axis assembly system includes a multi-axis load-bearing device (10), which includes: The support frame (11) and the support positioning device (12) provided on the support frame (11) are used to simultaneously support the multi-axis gears (00) and allow the multi-axis gears (00) to have accurate positioning and rotatable meshing relationship, so as to simultaneously assemble the multi-axis gears (00) supported by the support positioning device (12); The bearing positioning device (12) includes at least one set of shaft drive mechanisms and at least one set of shaft gripping mechanisms.

2. The multi-axis assembly system according to claim 1, characterized in that, The shaft drive mechanism includes a first gripping mechanism (121), which includes: The first base part (1211), which serves as the main body of the first gripping mechanism (121), is hung on the support platform (111) of the support frame (11) so that the first gripper (1213) located below it has an interference-free gripping space. The first gripping part includes a first gripper driver (1212) mounted on the first base part (1211) and a first gripper (1213) driven by the first gripper driver (1212). The first positioning part (1214) is located at the bottom of the first base part (1211) and the center of the first gripper (1213), and is used to position the multi-axis gear (00) and establish a rotatable meshing relationship.

3. The multi-axis assembly system according to claim 2, characterized in that, The first grasping mechanism (121) further includes: The rotating part (1215) can be manually operated to rotate circumferentially in the horizontal plane. The rotating part (1215) is connected to the first positioning part (1214) through a transmission shaft located inside the first base part (1211), so that the rotation of the rotating part (1215) can drive the first positioning part (1214) to rotate synchronously through the transmission shaft. When the rotating part (1215) rotates, it can drive the multi-axis gear (00) to rotate synchronously.

4. The multi-axis assembly system according to claim 1, characterized in that, The shaft gripping mechanism includes a second gripping mechanism (122), which includes: The second base part (1221), which serves as the main body of the second gripping mechanism (122), is mounted on the support platform (111) of the support frame (11) so that the second gripper (1223) located below it has an interference-free gripping space; The second gripping unit includes a second gripper driver (1222) mounted on the second base unit (1221) and a second gripper (1223) driven by the second gripper driver (1222). The second positioning part (1224) is located at the bottom of the second base part (1221) and the center of the second gripper (1223), and is used to position the multi-axis gear (00).

5. The multi-axis assembly system according to claim 1, characterized in that, The shaft gripping mechanism includes a third picking mechanism (123), which includes: The third base (1231) is suspended on the support platform (111) of the support frame (11) so that its lower part has an interference-free picking space; The third positioning part (1232) has its top end fixed to the bottom of the third base part (1231) and is used to position the multi-axis gear (00); Support part (1233), which is used to support the multi-shaft gear (00); The third drive unit (1234) is mounted on the third base unit (1231), and its drive rod is connected to the support unit (1233) to drive the support unit (1233) to perform reciprocating motion of extending and retracting, so as to realize its support and disengagement from the multi-axis gear (00).

6. The multi-axis assembly system according to claim 2, characterized in that, The first grasping mechanism (121) further includes: An elastic floating component (1216) is placed in the middle region of the first base (1211) to give the first gripping mechanism (121) a degree of freedom to float axially.

7. The multi-axis assembly system according to claim 6, characterized in that, The multi-axis bearing device (10) further includes: The anti-pressing mechanism (13) is placed on the bearing platform (111) and its horizontal position is adapted to the position of the elastic floating component (1216). When the first gripping mechanism (121) floats to a preset height, the anti-pressing mechanism (13) prevents it from continuing to float.

8. The multi-axis assembly system according to claim 1, characterized in that, The multi-axis assembly system further includes a first support device (20), which includes a first sliding seat (21) having a first hanging structure (211) and a first support seat (22) having a shaft positioning structure; in the gripping process, the carrier (11) is detachably hung on the first hanging structure (211) of the first sliding seat (21) to allow the carrier (11) to move down to above the multi-axis gear (00) located on the first support seat (22) for gripping; and The multi-axis assembly system further includes a second support device (30), which includes a second sliding seat (31) having a second mounting structure (311) and a second support seat (32) having a housing part positioning structure. In the assembly process, the carrier frame (11) is detachably mounted on the second mounting structure (311) of the second sliding seat (31) so that the multi-axis gear (00) carried by the carrier positioning device (12) can be simultaneously assembled into the housing (40) supported by the housing part positioning structure of the second support seat (32).

9. The multi-axis assembly system according to claim 8, characterized in that, The first support device (20) further includes: A first guide mechanism (23) is arranged vertically on the facade of the first support device (20), and a first sliding seat (21) is slidably connected to the first guide mechanism (23) so that the first sliding seat (21) can slide vertically relative to the first support device (20). The first balancing mechanism (24) is connected at its upper end to the first support device (20) and at its lower end to the first sliding seat (21), thereby enabling the first sliding seat (21) to be in a suspended state on the first guide mechanism (23).

10. The multi-axis assembly system according to claim 8, characterized in that, The second support device (30) further includes: The second guide mechanism (33) is arranged vertically on the facade of the second support device (30), and the second sliding seat (31) is slidably connected to the second guide mechanism (33) so that the second sliding seat (31) can slide vertically relative to the first support device (20); The second balancing mechanism (34) is connected at its upper end to the second support device (30) and at its lower end to the second sliding seat (31), thereby enabling the second sliding seat (31) to be in a suspended state on the second guide mechanism (33).

11. The multi-axis assembly system according to claim 10, characterized in that, The second support device (30) has two parallel crossbeams (35) fixedly connected to its top. The second support device (30) also includes a truss (36), which spans across and is erected on the two crossbeams (35). The crossbeams (35) are provided with slide rails, and the truss (36) is slidably connected to the crossbeams (35) through the slide rails. The second guide mechanism (33) is mounted on the truss (36), and the truss (36) can drive the second guide mechanism (33) to the assembly station for assembling the multi-axis gear (00) into the housing (40). The second support device (30) further includes: Heating device (37) is hung on the truss (36). The heating device (37) is moved to the heating station by the truss (36) to heat the box (40).

12. A multi-axis assembly method, characterized in that, The multi-axis assembly method includes: During the grasping process, During the descent of the shaft drive mechanism toward the multi-shaft gear (00), the manual drive disk (1215) is manually driven to reciprocate in the horizontal plane, and the rotation is synchronously transmitted to the positioning part of the shaft drive mechanism to find and achieve the matching and alignment of the positioning part of the shaft drive mechanism and the multi-shaft gear (00) in the circumferential direction. After successful matching, the shaft drive mechanism completes the positioning of the multi-shaft gear (00) and establishes a rotatable meshing relationship. At the same time, the gripper of the shaft drive mechanism turns to the clamping state and grabs a part of the multi-shaft gear (00). The shaft gripping mechanism descends synchronously with the shaft drive mechanism, and the positioning part of the shaft gripping mechanism completes the positioning of the multi-shaft gear (00). At the same time, the shaft gripping mechanism grips the remaining part of the multi-shaft gear (00). After the shaft drive mechanism and the shaft gripping mechanism successfully grip, they are lifted synchronously.

13. The multi-axis assembly method according to claim 12, characterized in that, In the assembly process, The manual drive of the disc drive (1215) transmits power to the multi-axis gear (00), causing the multi-axis gear (00) to rotate during operation. The shaft drive mechanism and the shaft gripping mechanism and the multi-axis gear (00) they carry simultaneously descend to the top of the housing (40). Then, the multi-axis gear (00) is placed into the mounting cavity of the housing (40) to complete the assembly.

14. The multi-axis assembly method according to claim 13, characterized in that, During the grasping process, The various parts are manually assembled on the first support (22) into a multi-shaft gear (00) with mutual meshing relationship. The operator holds the operating unit (14) and manually pushes and pulls the multi-axis load-bearing device (10), which includes the shaft drive mechanism and the shaft gripping mechanism, placed on the suspension conveying system, to move it above the first support device (20); Adjust the position so that the multi-axis bearing device (10) is lowered onto the first mounting structure (211). As the first sliding seat (21) descends, the multi-axis bearing device (10) grips the multi-axis gear (00) located on the first support seat (22) after it reaches the target position. In the assembly process: The operator holds the operating unit (14) and unloads the multi-axis bearing device (10) and its multi-axis gear (00) from the first support device (20). The operator then manually pushes and pulls the multi-axis bearing device (10) suspended in the suspension conveyor system to move it above the second support device (30). Adjust the position so that the multi-axis bearing device (10) is lowered onto the second mounting structure (311). The multi-axis bearing device (10) descends vertically along the second guide mechanism (33). After descending to the target position, the multi-axis gear (00) is placed into the mounting cavity of the housing (40) to complete the assembly.

15. The multi-axis assembly method according to claim 14, characterized in that, In the assembly process, before the multi-axis gear (00) is put into the housing, the heating device (37) heats the housing (40) first, so that the housing (40) is in a state of thermal expansion, and then the multi-axis gear (00) is assembled into the mounting cavity of the housing (40).

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