Flexible engagement of planetary gear set with ring gear

Abstract

The present application relates to the technical field of planetary gear set, and particularly relates to a flexible meshing method and device of planetary gear set and gear ring. The flexible meshing device comprises a clamping device, a force sensing device and a displacement moving device, and a control device is connected with the force sensing device and the displacement moving device respectively, and the control device is used for controlling the displacement moving device to execute the flexible meshing method according to the force and torque detected by the force sensing device. In the flexible meshing method of the planetary gear set and the gear ring, a six-dimensional follow-up coordinate system is established, and the axial pressure, torque and force difference are combined for closed-loop control in the processes of centering, axial approach, rotation tooth searching, attitude adjustment and tooth meshing, so that the planetary gear set and the gear ring no longer rely on manual tooth adjustment or rigid press fitting, but automatically search for the tooth groove and adjust the attitude in the safe pressure range, thereby reducing the risk of knocking and scratching caused by tooth top and tooth surface interference, and improving the automation degree, assembly success rate and assembly consistency of the meshing assembly.

Description

Technical Field

[0001] This invention relates to the field of planetary gear set technology, and more specifically to a method and apparatus for flexible meshing of a planetary gear set and a gear ring. Background Technology

[0002] The coaxial reducer of a new energy electric drive system mainly consists of a planetary gear set, a ring gear, and a housing. Because the tooth angles of the planetary gears in the planetary gear set are randomly distributed, random interference occurs between the planetary gears and the ring gear during assembly. This makes assembly difficult, inefficient, and prone to damaging the tooth surfaces or tips, leading to abnormal NVH (noise, vibration, and harshness) and even abnormal output torque and short lifespan during use. Therefore, during the assembly of the coaxial reducer assembly, it is necessary to complete the meshing assembly between the planetary gears and the ring gear without damaging the assembly itself.

[0003] In related technologies, in order to avoid damaging the gear surface during the assembly process, manual assembly is often used, which results in low assembly efficiency and high labor costs. Mechanical hoisting assembly also requires manual intervention to adjust the rotation angle of each planetary gear to achieve meshing between the gear ring and each planetary gear, resulting in low automation. Summary of the Invention

[0004] One objective of this invention is to provide a flexible meshing method for planetary gear sets and ring gears, so as to solve the problem of low automation in the meshing of planetary gear sets and ring gears in the prior art; another objective is to provide a flexible meshing device for planetary gear sets and ring gears.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A flexible meshing method for a planetary gear set and a ring gear, wherein one of the planetary gear set and the ring gear is designated as the clamped component, and the other as the component to be meshed, the movement of the clamped component is controlled by a displacement and movement device, and the axial pressure and torque between the clamped component and the component to be meshed are detected in real time by a force sensing device, the method comprising: Coordinate system establishment steps: Establish a six-dimensional follow-up coordinate system (X, Y, Z, RX, RY, RZ) for the displacement and movement device. The X and Y coordinates are radial coordinates, and the Z coordinate is the axial coordinate. The center of the end face of the meshing structure in the clamped part facing the part to be meshed is used as the control reference point of the six-dimensional follow-up coordinate system. Entering the centering position step: control the clamped part to move to the centering position corresponding to the part to be engaged. In the centering position, the central axis of the clamped part is collinear with the central axis of the part to be engaged. Axial approach step: Drive the clamped component to move along the Z-axis toward the component to be engaged. When the axial pressure on the clamped component reaches a first preset ratio of the first safety pressure threshold, the clamped component stops moving along the Z-axis. Rotary tooth-finding step: Drive the clamped component to rotate around the Z-axis until the force sensing device senses that the maximum axial pressure is less than a second preset ratio of the first safety pressure threshold, and the second preset ratio is less than the first preset ratio; Attitude adjustment steps: After the clamped part rotates around the Z-axis by an adjustment unit RZ, adjust the RX or RY attitude of the clamped part in the opposite direction according to the force difference in different areas of the clamped part. Engagement step: Drive the clamped component to move, so that the planetary gear set engages with the gear ring.

[0006] By employing the aforementioned technical means, a six-dimensional follow-up coordinate system is established. During the centering, axial approach, rotary tooth finding, attitude adjustment, and tooth engagement processes, a closed-loop control is implemented in real time, taking into account axial pressure, torque, and force differences. This allows the planetary gear set and gear ring to automatically find tooth grooves and adaptively adjust their attitude within a safe pressure range, eliminating the need for manual tooth adjustment or rigid pressing. This reduces the risk of collisions and scratches caused by tooth tip and tooth surface interference, and improves the automation level, assembly success rate, and assembly consistency of the meshing assembly.

[0007] Furthermore, adjusting the RX or RY posture of the clamped component in reverse, based on the force differences in different regions of the clamped component, includes: Based on the force difference between the positive and negative X-axis sides and the positive and negative Y-axis sides detected by the force sensing device, the RX and / or RY coordinates of the displacement movement device are adjusted.

[0008] By using the above-mentioned technical means, the force differences on the positive and negative sides of the X-coordinate and the positive and negative sides of the Y-coordinate are obtained respectively, and the RX and / or RY coordinates are adjusted accordingly. The uneven force caused by local bias, eccentricity or tilt of the gear set can be transformed into an executable attitude compensation command, so that the clamped part is adjusted to the direction of more balanced force during the tooth finding process, thereby reducing the continuous pressure and friction on the tooth surface on one side and improving the reliability of synchronous tooth entry of multi-planetary gears.

[0009] Furthermore, adjusting the RX and / or RY coordinates of the displacement movement device based on the force difference between the positive and negative X-coordinate sides and the positive and negative Y-coordinate sides detected by the force sensing device includes: Obtain the first difference between the force on the clamped component in the positive X-axis region and the force on the clamped component in the negative X-axis region, and the second difference between the force on the clamped component in the positive Y-axis region and the force on the clamped component in the negative Y-axis region; If the absolute value of the first difference is greater than the absolute value of the second difference, then rotate the Y-axis around the Y-axis to adjust the unit, with the rotation direction being the area of ​​less force. If the absolute value of the first difference is less than the absolute value of the second difference, then rotate the adjustment unit around the X-axis RX, with the rotation direction being the region of less force.

[0010] By using the above-mentioned technical means, by comparing the force difference between the two sides in the X direction and the force difference between the two sides in the Y direction, and prioritizing the attitude adjustment around the X-axis or Y-axis for the direction with greater force difference, the control device can eliminate the main source of off-center load. At the same time, setting the rotation direction towards the area with less force can release the contact area with greater force, reduce tooth tip hardening and tooth side squeezing, thereby improving the targeting of attitude correction and tooth finding efficiency.

[0011] Furthermore, the flexible meshing method between the planetary gear set and the gear ring also includes a false meshing judgment step, which includes: After the force sensing device detects that the maximum axial pressure is less than the first safety pressure threshold by a second preset ratio, it drives the clamped part to continue moving along the Z-axis toward the part to be engaged. If the moving distance is less than L3 and the axial pressure reaches the first safety pressure threshold during the movement, the movement is stopped immediately, and the rotary tooth-finding step and the attitude adjustment step are repeated. During the movement, if the axial pressure is less than the first safety pressure threshold during the movement distance L3, then the tooth engagement step is executed.

[0012] By employing the aforementioned technical means, after the maximum axial pressure decreases, the system continues to move a preset distance L3 along the Z-axis, and determines whether false engagement exists based on whether the first safety pressure threshold is reached again within L3. This avoids misjudging chamfering, instantaneous backlash, or local pressure drop as genuine tooth engagement. When false engagement is detected, the system stops promptly and re-searches for the tooth, which helps prevent subsequent forced insertion that could damage the tooth surface and improves the accuracy of tooth engagement judgment and assembly safety.

[0013] Furthermore, in the rotary tooth-finding step, if the force sensing device detects that the maximum axial pressure is less than a second preset ratio of the first safe pressure threshold, and the real-time torque is less than or equal to the first safe torque threshold, then the false engagement judgment step is directly executed.

[0014] By employing the aforementioned technical means, it is possible to avoid mechanically performing RX or RY posture adjustments after the ideal tooth-finding state has been achieved, thereby reducing ineffective adjustment actions, shortening the assembly cycle, and reducing the risk of damage to the formed tooth-entry channel due to excessive posture compensation, thus improving the stability and efficiency of the flexible meshing process.

[0015] Further, when the clamped component is in the centering position, the coordinates of the displacement moving device are (X01, Y01, Z0, RX0, RY0, RZ0); when the moving distance reaches the first preset distance L3 in the false engagement judgment step, the coordinates of the displacement moving device are (X02, Y02, Z02, RX02, RY02, RZ02); the tooth engagement step includes: Drive the clamped component to rotate around the Z-axis and adjust the coordinates of the displacement and movement device to (X02, Y02, Z02, RX02, RY02, RZ0). The clamped component is driven to move along the Z-axis toward the component to be engaged to coordinate (X02, Y02, Z02-L1+L3, RX02, RY02, RZ0), so that the planetary gear set and the gear ring are engaged, where L1 is the maximum engagement length between the planetary gear set and the gear ring.

[0016] By using the above-mentioned technical means, the coordinates at L3 are determined by recording the sham meshing, and the RZ coordinates are restored to the initial circumferential reference RZ0 before tooth insertion. At the same time, the X, Y, RX, and RY position states formed after tooth finding and attitude adjustment are retained. Then, the pressing is completed according to the remaining meshing stroke of L1-L3. This can take into account both the real tooth insertion channel after flexible tooth finding and the circumferential assembly reference of the final product, thereby ensuring the complete meshing of the gear set and improving the consistency of the final assembly position.

[0017] Furthermore, in the rotary tooth-finding step, if the angle of rotation of the clamped component around the Z-axis has accumulated to more than 45°, the steps of entering the centering position, the axial approach, and the rotary tooth-finding step are re-executed, and the direction of driving the clamped component to rotate around the Z-axis in the rotary tooth-finding step is adjusted to the opposite direction.

[0018] By employing the aforementioned technical means, after the cumulative rotation angle around the Z-axis exceeds 45°, the centering, axial approach, and rotational tooth finding are re-executed, and the rotation direction is adjusted to the opposite direction. This avoids continuous tooth flank friction or the formation of a wedging state caused by prolonged tooth finding in the same direction. Re-centering and reverse tooth finding can release the accumulated deviations in the previous tooth finding process, improve the success rate of re-entry into the tooth under abnormal working conditions, and reduce the risk of tooth wear.

[0019] Furthermore, the flexible meshing method between the planetary gear set and the gear ring also includes a centering position acquisition step, which includes: One end of the planetary gear set forms an auxiliary positioning cavity. The wall of the auxiliary positioning cavity is a cylindrical positioning surface coaxial with the planetary gear set. The clamped part is driven to approach the part to be meshed to the centering start position. At this time, the cylindrical positioning surface and the gear ring at least partially coincide in the Z direction. Drive the clamped component to move radially; When the force sensing device detects that the contact force between the toothed ring and the cylindrical positioning surface reaches the preset contact force, it records the contact position of the clamped part in the radial direction. The alignment position of the clamped component and the component to be engaged is determined based on the contact position.

[0020] By utilizing the aforementioned technical means, and taking advantage of the partial overlap between the cylindrical positioning surface coaxial with the planetary gear set and the gear ring in the Z-direction, and using the position where the preset contact force is reached during radial movement as the centering basis, the center position can be directly obtained based on the geometric contact relationship of the assembled parts themselves. This reduces the reliance on manual visual inspection, external vision, or the absolute positioning accuracy of tooling, thereby improving the accuracy and adaptability of the alignment between the planetary gear set and the gear ring.

[0021] Furthermore, the radial direction includes the positive X-coordinate, the negative X-coordinate, the positive Y-coordinate, and the negative Y-coordinate; The step of driving the gripped component to move in the radial direction includes: driving the gripped component to move along the positive X-axis, the negative X-axis, the positive Y-axis, and the negative Y-axis, respectively; When the force sensing device detects that the contact force between the gear ring and the cylindrical positioning surface reaches the preset contact force, it records the contact positions corresponding to the positive X-axis, the negative X-axis, the positive Y-axis, and the negative Y-axis, respectively.

[0022] By employing the aforementioned technical means, radial probing can be performed along the positive X, negative X, positive Y, and negative Y directions respectively, and the contact positions in each of the four directions can be recorded. This allows for the acquisition of complete boundary information of the gear ring relative to the clamped component in two radial coordinate directions. Compared to single-sided probing, four-way probing can better offset the effects of initial offset and part size tolerances, thereby improving the reliability of center position calculation.

[0023] Furthermore, the X-axis center coordinates are determined based on the contact positions in the positive and negative X-coordinate directions, the Y-axis center coordinates are determined based on the contact positions in the positive and negative Y-coordinate directions, and the centering position is determined based on the X-axis center coordinates and the Y-axis center coordinates.

[0024] By using the above-mentioned technical means, the center coordinates of the X direction are determined based on the contact positions of the positive and negative X directions, and the center coordinates of the Y direction are determined based on the contact positions of the positive and negative Y directions. The centering position can be determined by the midpoint relationship of the two sets of relative contact boundaries, so that the axis of the clamped part can be moved more accurately to the vicinity of the center axis of the gear ring, thereby reducing the problem of unilateral first contact and off-center load when approaching the axis in the subsequent axial direction.

[0025] Furthermore, the Z-axis distance between the end of the planetary gear set and the end face of the planetary gear is a second preset distance L2, and the Z-axis overlap distance between the cylindrical positioning surface and the gear ring at the initial alignment position is αL2, 0 < α < 1; in the axial approach step: When the axial pressure on the clamped component reaches a first preset ratio of the first safety pressure threshold, the moving distance of the clamped component along the Z-axis is obtained as L4. If L4 < β * (1-α) * L2, where 0.8 < β ≤ 1, then control the clamped part to return to the centering position.

[0026] By using the above technical means, by limiting the Z-axis overlap distance between the cylindrical positioning surface and the gear ring at the beginning of the alignment, and judging whether there is an abnormality when approaching axially based on the relationship between the actual moving distance L4 and the theoretical movable distance β*(1-α)*L2, abnormal contact caused by alignment error, workpiece not being seated, or premature interference of the positioning surface can be identified, avoiding mistaking abnormal collisions for normal gear contact, thereby improving the safety protection capability of the assembly process.

[0027] Furthermore, the flexible meshing method between the planetary gear set and the gear ring also includes a step of obtaining the centering start coordinates, wherein the centering start coordinates are (X0, Y0, Z0, RX0, RY0, RZ0). The step of obtaining the centering start coordinates includes: fixing the parts to be meshed in the fixed position on the worktable, manually assisting in completing the full meshing state of the planetary gear set and the gear ring, and calibrating the coordinates of the displacement movement device at this time as (X1, Y1, Z1, RX1, RY1, RZ1), then X0=X1, Y0=Y1, Z0=Z1+L1+(1-α)L2, RX0=RX1, RY0=RY1, RZ0=RZ1, where L1 is the maximum meshing length of the planetary gear set and the gear ring; In the centering position acquisition step, driving the clamped component to the centering start position includes: the displacement moving device moving to the centering start coordinates (X0, Y0, Z0, RX0, RY0, RZ0).

[0028] By using the above-mentioned technical means, a reference calibration is performed once in the fully engaged state with manual assistance. The centering start coordinates are calculated by combining the maximum engagement length L1 and the auxiliary positioning cavity length L2. The manual teaching results can be transformed into the initial coordinate reference for subsequent automatic centering and automatic engagement. This reduces the need for repeated manual trial assembly before each assembly and improves the cycle stability and coordinate reproduction accuracy during batch assembly.

[0029] A flexible meshing device for a planetary gear set and a gear ring, comprising: Clamping device for clamping one of the planetary gear set and the ring gear; Force sensing device, used to detect the force and torque during the assembly process of the clamped part and the part to be engaged; A displacement and movement device, connected to the clamping device, is used to drive the clamped component to move and rotate in a six-dimensional coordinate system; A control device is connected to the force sensing device and the displacement movement device respectively. The control device is used to control the displacement movement device to perform the flexible meshing method of the planetary gear set and the gear ring as described in any one of claims 1 to 15 based on the force and torque detected by the force sensing device.

[0030] By integrating the clamping device, force sensing device, displacement and movement device and control device into an assembly device, the clamping and positioning of the clamped part, the execution of six-dimensional motion, the detection of force / torque and the control judgment form a closed loop, which can realize the automated execution of the above flexible meshing method, thereby replacing manual gear adjustment and manual pressing, and improving the efficiency and stability of planetary gear set and gear ring assembly.

[0031] Furthermore, the clamping device includes a clamping assembly and a pressing and positioning assembly; the clamping assembly is used to radially clamp the clamped part, and the pressing and positioning assembly is used to axially press and angularly position the clamped part.

[0032] By using the above-mentioned technical means, the clamping component radially clamps the clamped part, and the clamping and positioning component axially clamps and angularly positions the clamped part. This can simultaneously limit the radial offset, axial movement, and circumferential deflection of the clamped part, so that the clamped part remains stable during the rotational tooth finding and posture adjustment process. This improves the accuracy of the correspondence between the force feedback data and the actual meshing state, and ensures that the flexible adjustment action can be effectively transmitted to the gear meshing end.

[0033] Furthermore, the force sensing device includes a connecting flange and a six-dimensional force sensing module, which is used to detect the force along the X coordinate, the Y coordinate and the Z coordinate, and the torque around the RX coordinate, the RY coordinate and the RZ coordinate.

[0034] By connecting the flange and the six-dimensional force sensing module to detect the forces in the X, Y, and Z directions, as well as the torques around the RX, RY, and RZ directions, assembly status information such as axial contact, radial off-center load, attitude tilt, and circumferential jamming can be obtained simultaneously. This enables the control device to perform safe stopping, rotary tooth finding, and attitude compensation based on multi-dimensional mechanical signals, thereby improving the sensing accuracy and closed-loop control reliability of the assembly process.

[0035] The beneficial effects of this invention are: (1) By establishing a six-dimensional follow-up coordinate system and combining axial pressure, torque and force difference in real time during centering, axial approach, rotational tooth finding, attitude adjustment and tooth meshing, the planetary gear set and gear ring no longer rely on manual tooth adjustment or rigid pressing. Instead, they automatically find tooth grooves and adjust their attitude in accordance with the safe pressure range, thereby reducing the risk of collision and scratch caused by tooth tip and tooth surface interference, and improving the automation level, assembly success rate and assembly consistency of meshing assembly.

[0036] (2) By utilizing the partial overlap between the cylindrical positioning surface coaxial with the planetary gear set and the gear ring in the Z direction, and taking the position of reaching the preset contact force during radial movement as the centering basis, the center position can be obtained directly based on the geometric contact relationship of the assembled parts themselves, reducing the reliance on manual visual inspection, external vision or absolute positioning accuracy of tooling, thereby improving the accuracy and adaptability of the alignment between the planetary gear set and the gear ring.

[0037] (3) The flexible meshing device of planetary gear set and gear ring integrates clamping device, force sensing device, displacement movement device and control device, so that the clamping positioning, six-dimensional motion execution, force / torque detection and control judgment of the clamped part form a closed loop, which can realize the automated execution of the flexible meshing method, thereby replacing manual gear adjustment and manual pressing, and improving the efficiency and stability of planetary gear set and gear ring assembly. Attached Figure Description

[0038] Figure 1 This is a front view of the planetary gear set and the ring gear in the contact state. Figure 2 for Figure 1 A bottom view of the structure shown; Figure 3 for Figure 1 A cross-sectional view of the structure shown; Figure 4 A schematic flowchart illustrating the first flexible meshing method between a planetary gear set and a gear ring provided in this application embodiment; Figure 5 A schematic flowchart illustrating the second flexible meshing method between a planetary gear set and a gear ring provided in this application embodiment; Figure 6A schematic flowchart illustrating the third flexible meshing method between a planetary gear set and a gear ring provided in this application embodiment; Figure 7 A schematic flowchart illustrating the fourth flexible meshing method between a planetary gear set and a gear ring provided in this application embodiment; Figure 8 A detailed flowchart of the alignment position acquisition step in the second flexible meshing method between a planetary gear set and a gear ring provided in the embodiments of this application; Figure 9 The flowchart shows the axial approach step, the rotary tooth finding step, the attitude adjustment step, the false meshing judgment step, and the tooth engagement step in the second flexible meshing method between the planetary gear set and the gear ring provided in the embodiments of this application.

[0039] Figure 10 A three-dimensional structural schematic diagram of the flexible meshing device between the planetary gear set and the gear ring provided in the embodiments of this application; Figure 11 An exploded view of the flexible meshing device between the planetary gear set and the gear ring provided in the embodiments of this application; Figure 12 An exploded view of the force sensing device in the flexible meshing device between the planetary gear set and the gear ring provided in the embodiments of this application; Figure 13 A three-dimensional structural diagram of the clamping device in the flexible meshing device between the planetary gear set and the gear ring provided in the embodiments of this application; Figure 14 A diagram showing the positional relationship of the clamping device, planetary gear set, and gear ring provided in the embodiments of this application before assembly; Figure 15 A diagram showing the positional relationship between the planetary gear set and the gear ring after the clamping device provided in this embodiment has clamped the planetary gear set and before assembly. Figure 16 A three-dimensional structural diagram of the clamping device provided in this application embodiment when the planetary gear set and the gear ring are aligned during the assembly process; Figure 17 A cross-sectional view of the planetary gear set and the gear ring being aligned during assembly after the clamping device provided in the embodiment of this application has clamped it. Figure 18 A cross-sectional view of the planetary gear set and the gear ring being in a state of near-end face proximity during the assembly process after the clamping device provided in the embodiment of this application has clamped the planetary gear set; Figure 19 A cross-sectional view of the planetary gear set and the gear ring after the clamping device provided in the embodiment of this application has clamped the planetary gear set and completed full meshing with it during the assembly process; Figure 20 A front view of the planetary gear set and the gear ring after the clamping device provided in the embodiment of this application has clamped the planetary gear set and completed full meshing with it during the assembly process; Figure 21 A perspective view of the planetary gear set and the gear ring after the clamping device provided in the embodiment of this application has clamped the planetary gear set and completed full meshing during the assembly process; Figure 22 This is a bottom view of the planetary gear set after it has been clamped by the clamping device provided in the embodiment of this application, in a fully engaged state with the gear ring during the assembly process.

[0040] in, 100. Planetary gear set; 110. Planetary gear; 120. Upper gear cage; 130. Lower gear cage; 140. Cylindrical locating surface; 200. Gear ring; 300. Clamping device; 311. Three-jaw cylinder; 312. Clamping block; 313. Clamping block; 321. Pressure block seat; 322. Pressure block; 323. Tapered pin; 400. Force sensing device; 410. Connecting flange; 420. Six-dimensional force sensing module; 500. Displacement and movement device. Detailed Implementation

[0041] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0042] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0043] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0044] like Figure 1-3 As shown in the related art, the planetary gear set 100 includes a cage and a plurality of planetary gears 110 disposed on the cage. The plurality of planetary gears 110 are arranged circumferentially at intervals along the cage, and the rotation axis of each planetary gear 110 is parallel to the central axis of the planetary gear set 100. The teeth of each planetary gear 110 mesh with the internal teeth of the gear ring 200 during assembly. The cage is used to define the circumferential distribution position, radial center distance, and axial mounting position of each planetary gear 110, so that multiple planetary gears 110 can be clamped, moved, and assembled as a whole. However, the cage usually does not define the initial circumferential angle of the teeth of each planetary gear 110 relative to the tooth groove of the gear ring 200. Therefore, when the planetary gear set 100 is brought close to the gear ring 200 as a whole, the planetary gears 110 at different positions may be in the engagement, half engagement, or tipping state, which is one of the main reasons why the planetary gear set 100 and the gear ring 200 are prone to random interference.

[0045] The cage may include an upper gear cage 120 and a lower gear cage 130 arranged axially opposite each other, with a plurality of planetary gears 110 located between the upper gear cage 120 and the lower gear cage 130. The upper gear cage 120 and the lower gear cage 130 may form an integral frame by means of pins, connecting columns, riveting structures, screwing structures or other connecting structures, and each planetary gear 110 is rotatably supported on a corresponding pin or support. By supporting the two ends of the planetary gears 110 with the upper and lower cages, the overall structural rigidity and axial stability of the planetary gear set 100 can be improved, and the meshing deviation caused by tilting, lateral movement of the planetary gears 110 or deformation of the cage during assembly can be reduced.

[0046] like Figure 4-9 As shown, this application provides a flexible meshing method for planetary gear sets and ring gears, applicable to the assembly process of coaxial reducers in new energy electric drive systems. Since the circumferential angles of the teeth of multiple planetary gears 110 in the planetary gear set 100 are usually not consistent, when the planetary gear set 100 and the ring gear 200 approach each other axially, the tooth tips of some planetary gears 110 may interfere with the tooth tips, tooth flanks, or chamfers of the ring gear 200 before the remaining planetary gears 110 have entered the tooth groove. If rigid pressing continues, it can easily lead to tooth surface scratches, tooth tip collisions, or localized plastic deformation, thereby affecting the noise, vibration, and output torque stability during reducer operation. Therefore, this application does not rely on manual repeated rotation of the planetary gears 110 or adjustment of the assembly angle based on experience. Instead, it forms a closed-loop control through a displacement movement device 500, a force sensing device 400, and a control device, ensuring that the clamped component is subject to force and torque constraints during axial approach, rotational tooth finding, posture adjustment, and tooth engagement, thus completing automated meshing assembly without damaging the tooth surface.

[0047] Further reference Figures 10-22 The attached diagram shows the positional relationship between the planetary gear set and the ring gear before the meshing process begins, as follows: Figure 14 and 15 As shown, in the flexible meshing method between the planetary gear set and the ring gear, one of the planetary gear set 100 and the ring gear 200 is designated as the clamped component, and the other as the component to be meshed. The movement of the clamped component is controlled by the displacement moving device 500, and the axial pressure and torque between the clamped component and the component to be meshed are detected in real time by the force sensing device 400. Specifically, as... Figure 4 As shown, the flexible meshing method between the planetary gear set and the gear ring includes the following steps: coordinate system establishment, entering the centering position, axial approach, rotational tooth finding, attitude adjustment, and tooth engagement.

[0048] In the coordinate system establishment step, a six-dimensional follower coordinate system (X, Y, Z, RX, RY, RZ) of the displacement and movement device 500 is established. The X and Y coordinates are radial coordinates, and the Z coordinate is an axial coordinate. The center of the end face of the meshing structure in the clamped part facing the part to be meshed is used as the control reference point of the six-dimensional follower coordinate system. During the alignment step, the clamped component is moved to an alignment position corresponding to the component to be engaged. In the alignment position, the central axis of the clamped component is collinear with the central axis of the component to be engaged. (See schematic diagram for alignment position state.) Figure 17 and 18 As shown.

[0049] In the axial approach step, the clamped component is driven to move along the Z-axis toward the component to be engaged. When the axial pressure on the clamped component reaches a first preset ratio of the first safety pressure threshold, the clamped component stops moving along the Z-axis. In the rotary tooth-finding step, the clamped component is driven to rotate around the Z-axis until the force sensing device 400 senses that the maximum axial pressure is less than a second preset ratio of the first safety pressure threshold, and the second preset ratio is less than the first preset ratio. In the attitude adjustment step, after the clamped part rotates around the Z-axis by an adjustment unit of RZ, the RX attitude or RY attitude of the clamped part is adjusted in the opposite direction according to the force difference in different areas of the clamped part. During the gear engagement step, the clamped component is driven to move, causing the planetary gear set 100 to mesh with the gear ring 200, thereby obtaining the desired result. Figure 19-22 The state shown.

[0050] It should be noted that one of the planetary gear set 100 and the gear ring 200 is used as the clamped component, and the other is used as the component to be meshed. The gear ring 200 can be fixed to a worktable or positioning fixture, and the planetary gear set 100 can be clamped by the clamping device 300 and moved towards the gear ring 200; alternatively, the planetary gear set 100 can be fixed, and the clamping device 300 can clamp and move the gear ring 200. The control principle of both methods is the same: the displacement and movement device 500 drives the clamped component to move radially, axially, and rotate relative to the component to be meshed, and the force sensing device 400 detects the axial pressure, radial force, and torque around each coordinate axis in real time during the assembly process. For ease of explanation, the accompanying drawings of this application describe the planetary gear set 100 as the clamped component and the gear ring 200 as the component to be meshed, but this description does not constitute a limitation on the clamped object.

[0051] Before flexible engagement, a six-dimensional follower coordinate system is established for the displacement and movement device 500. This six-dimensional follower coordinate system includes X, Y, Z, RX, RY, and RZ coordinates, where X and Y are radial coordinates, Z is an axial coordinate, and X, Y, and Z coordinates are pairwise orthogonal. The RX coordinate represents the rotational attitude of the clamped component about the X coordinate, the RY coordinate represents the rotational attitude of the clamped component about the Y coordinate, and the RZ coordinate represents the rotational attitude of the clamped component about the Z coordinate. The control reference point of the six-dimensional follower coordinate system is set to the center of the end face of the meshing structure in the clamped component facing the component to be meshed. For example, when the planetary gear set 100 is clamped, the center of the end face of the planetary gear set 100 facing the gear ring 200 can be used as the control reference point. In this way, subsequent axial feed, radial alignment, gear finding around the Z-axis, and attitude compensation around the X and Y axes are all performed around the center of the end face that actually participates in the meshing, which can reduce the coordinate transformation error between the clamping point, the coordinate of the end of the mechanism, and the gear meshing position.

[0052] After establishing the coordinate system, the clamped component is moved to the centering position corresponding to the component to be meshed by entering the centering position step. In the centering position, the central axis of the clamped component is collinear with the central axis of the component to be meshed. This centering position can be obtained through manual calibration, visual positioning, mechanical positioning, or force-sensing edge probing positioning. Since both the planetary gear set 100 and the gear ring 200 are meshing parts with high requirements for coaxiality, if there is a radial deviation between their central axes, one side will make contact first when they approach each other axially, resulting in greater pressure on the tooth surface on that side; even if a local tooth groove can be found by rotation, it is easy for a certain planetary gear 110 to be over-stressed due to overall eccentricity. Therefore, completing the centering before entering the rotational tooth finding stage helps to make the initial clearance distribution between multiple planetary gears 110 and the gear ring 200 more uniform, thereby reducing the magnitude of subsequent flexible adjustments and the risk of tooth surface damage.

[0053] During axial approach, the displacement and movement device 500 drives the clamped component to move along the Z-axis toward the component to be engaged. This movement is not a direct pressing, but rather the axial pressure is continuously monitored by the force sensing device 400. When the axial pressure on the clamped component reaches a first preset proportion of a first safe pressure threshold, the control device controls the clamped component to stop moving along the Z-axis. The first safe pressure threshold can be determined based on the maximum permissible pressure that does not cause damage when the planetary gear 110 and the ring gear 200 are in contact at the tooth tip, tooth side, or chamfer. The first preset proportion is less than 1, for example, it can be 4 / 5. By stopping before reaching the safe pressure threshold, the planetary gear set 100 and the ring gear 200 are in a state of "contact but not under strong pressure," providing reliable contact feedback for subsequent rotational tooth seeking, while avoiding tooth tip collisions caused by directly reaching the limit pressure. The relationship between the planetary gear set and the ring gear at this time is referenced. Figure 18 As shown.

[0054] After the clamped component stops axial movement, it enters the rotary tooth-finding process. The control device drives the clamped component to rotate around the Z-axis, and the force sensing device 400 senses the axial pressure and torque in real time during the rotation. When there is interference between the tooth tip of each planetary gear 110 and the tooth tip or tooth flank of the gear ring 200, the rotation will cause the interference position to move along the tooth profile direction, and the axial pressure and torque will usually remain at a high level. When at least some of the teeth gradually enter the corresponding tooth slots, the original tooth interference is relieved, and the axial pressure will decrease. Therefore, the control device can determine whether the maximum axial pressure is less than a second preset ratio of the first safety pressure threshold during the rotation of the clamped component around the Z-axis. The second preset ratio is less than the first preset ratio, for example, it can be 1 / 3. When the maximum axial pressure drops to this range, it indicates that the clamped component and the component to be meshed have changed from a strong interference state to an enterable state, which can be used as the basis for entering the subsequent dummy meshing judgment or tooth-entry action.

[0055] During the rotational tooth-finding process, since the planetary gear set 100 contains multiple planetary gears 110, the local meshing state of each planetary gear 110 relative to the gear ring 200 may be different, which can easily lead to a situation where one side of the gear is close to engaging while the other side is still at the tip. If it only rotates around the Z-axis, it may cause continuous friction on the side with greater force, or even cause the tooth surface to be scraped in the same direction. Therefore, in some embodiments, after the clamped part rotates around the Z-axis by one RZ adjustment unit, the control device adjusts the RX or RY posture of the clamped part in the opposite direction according to the force difference in different areas of the clamped part. The RZ adjustment unit can be determined according to the gear module, number of teeth, response speed of the displacement movement device 500, and force sensing sampling frequency, for example, it can be 2°, but is not limited to this.

[0056] Specifically, the force sensing device 400 can directly detect the force difference between the positive and negative X-axis sides of the clamped component, as well as the force difference between the positive and negative Y-axis sides. It can also calculate the force deviation in different regions using the axial force, torque around the X-axis, and torque around the Y-axis detected by the six-dimensional force sensing module 420. For example, if the force on the positive X-axis side is greater than the force on the negative X-axis side, it indicates that the clearance between the clamped component and the component to be meshed is too small on one side in the X-direction, or that the tooth tip interference on that side is strong. If the force on the positive Y-axis side is greater than the force on the negative Y-axis side, it indicates that there is similar local compression on one side in the Y-direction. Based on this force difference, the control device controls the displacement and movement device 500 to adjust the RX and / or RY coordinates, releasing the high-force area and appropriately moving the low-force area closer, thereby correcting the end-face posture of the clamped component towards a force balance direction.

[0057] By acquiring the force differences on the positive and negative sides of the X-coordinate and the positive and negative sides of the Y-coordinate respectively, and adjusting the RX and / or RY coordinates accordingly, the uneven force caused by local bias, eccentricity or tilt of the gear set can be converted into executable attitude compensation commands. This allows the clamped part to adjust to a more balanced force direction during tooth finding, thereby reducing continuous pressure and friction on one side of the tooth surface and improving the reliability of synchronous tooth entry of the multi-planetary gear 110.

[0058] Preferably, a first difference between the force on the gripped component in the positive X-axis region and the force on the negative X-axis region, and a second difference between the force on the gripped component in the positive Y-axis region and the force on the negative Y-axis region can be obtained. If the absolute value of the first difference is greater than the absolute value of the second difference, it indicates that the force unevenness on both sides of the X-axis is more obvious. In this case, the adjustment unit RY is rotated around the Y-axis, with the rotation direction towards the area with less force. Since rotating around the Y-axis changes the axial relative position of the gripped component on the positive and negative X-axis sides, the area with greater force in the X-axis can be released first. If the absolute value of the first difference is less than the absolute value of the second difference, it indicates that the force unevenness on both sides of the Y-axis is more obvious. In this case, the adjustment unit RX is rotated around the X-axis, with the rotation direction towards the area with less force. Since rotating around the X-axis changes the axial relative position of the gripped component on the positive and negative Y-axis sides, the area with greater force in the Y-axis can be released first. By using this attitude fine-tuning based on force differences, the clamped component does not force its way in with a rigid coaxial posture, but automatically forms a small-angle compliance under tooth surface contact feedback, thereby increasing the probability that multiple planetary gears 110 simultaneously enter the tooth groove of the gear ring 200. Specifically, by comparing the absolute values ​​of the force differences on both sides of the X-axis and Y-axis, and prioritizing attitude adjustments around the X-axis or Y-axis for directions with larger force differences, the control device can eliminate the main source of off-center load. Simultaneously, setting the rotation direction towards the area of ​​lower force releases the contact area with higher force, reducing tooth tip hardening and tooth flank compression, thereby improving the targeting of attitude correction and tooth-finding efficiency. The RX and RY adjustment units can be determined based on the gear module, number of teeth, response speed of the displacement device 500, and force sensing sampling frequency; for example, it can be 1°, but is not limited to this.

[0059] In some cases, the decrease in axial pressure during rotary tooth seeking does not necessarily indicate true tooth engagement. For example, planetary gear 110 and gear ring 200 often have tooth tip chamfers, tooth flank clearances, or guide ramps. When the tooth tip enters the chamfered area, the axial pressure may decrease briefly, but the tooth has not yet passed the true engagement position. If the final pressing is performed directly at this point, tooth interference may still occur again after a short stroke. Therefore, as... Figure 5As shown, in some embodiments, after the force sensing device 400 senses that the maximum axial pressure is less than a second preset proportion of the first safe pressure threshold, the control device does not immediately perform full-stroke tooth engagement. Instead, it drives the gripped component to continue moving along the Z-axis toward the component to be engaged a preset distance to perform a false engagement judgment. The false engagement judgment step includes: after the force sensing device 400 senses that the maximum axial pressure is less than a second preset proportion of the first safe pressure threshold, driving the gripped component to continue moving along the Z-axis toward the component to be engaged; during the movement, if the movement distance is less than L3 and the axial pressure reaches the first safe pressure threshold, the movement is immediately stopped, and the rotary tooth-finding step and the attitude adjustment step are repeated; during the movement, if the axial pressure is less than the first safe pressure threshold throughout the movement distance L3, the tooth engagement step is performed.

[0060] During the false engagement judgment process, the control device records the distance the clamped part continues to move along the Z-axis. If the moving distance is less than the first preset distance L3 and the axial pressure has reached the first safety pressure threshold, it indicates that the aforementioned pressure drop may only be caused by chamfering, local backlash, or momentary displacement, and the planetary gear set 100 and the gear ring 200 have not yet formed a stable tooth entry channel. At this time, the movement is stopped immediately, and the rotation tooth finding and attitude adjustment are repeated to avoid continued axial pressing that could cause a hard collision between the tooth tip and the tooth root or tooth side. If the axial pressure of the clamped part is always less than the first safety pressure threshold during the moving distance L3, it indicates that the gear teeth have passed through the induction area that is prone to misjudgment, and subsequent tooth entry can be completed according to the preset meshing stroke. L3 can be determined based on the tooth end chamfer depth, tooth backlash, assembly tolerance, and force sensing hysteresis. It can be set as the sum of the chamfer depth and a certain safety margin. For example, the displacement value L3 can be set directly as "chamfer depth + 2mm".

[0061] By continuing to move a preset distance L3 along the Z-axis after the maximum axial pressure decreases, and judging whether there is false engagement based on whether the first safety pressure threshold is reached again within L3, it is possible to avoid misjudging chamfering, instantaneous backlash, or local pressure drop as true tooth engagement. When false engagement is judged, timely stopping and tooth re-searching helps to prevent tooth surface damage caused by subsequent forced insertion, and improves the accuracy of tooth engagement judgment and assembly safety.

[0062] In some embodiments, during the rotary tooth-finding step, if the force sensing device 400 senses a second preset ratio where the maximum axial pressure is less than the first safe pressure threshold, and the real-time torque is less than or equal to the first safe torque threshold, it indicates that the gripped component has avoided the main tooth tip interference position after this rotation around the Z-axis, and there is no obvious circumferential jamming or tooth flank squeezing between the teeth. At this time, the contact state between the gripped component and the component to be engaged is already in a relatively ideal engagement state. Continuing to perform the attitude adjustment step may disrupt the currently formed favorable tooth engagement posture or increase unnecessary adjustment time. Therefore, after satisfying the above-mentioned axial pressure and real-time torque conditions, the attitude adjustment step can be discontinued, and the false engagement judgment step can be performed directly.

[0063] By simultaneously judging the maximum axial pressure and real-time torque, it is possible to confirm whether the posture after rotary tooth seeking has reached an optimal state from two dimensions: axial contact state and circumferential resistance state. Specifically, if the maximum axial pressure is less than a second preset proportion of the first safe pressure threshold, it indicates that the tooth tip hardening or axial pressure has been significantly reduced; if the real-time torque is less than or equal to the first safe torque threshold, it indicates that no significant circumferential jamming occurred during the rotation of the clamped part around the Z-axis. When both conditions are met, it means that the current posture has the conditions to continue axial guidance. In this way, it is possible to avoid mechanically performing RX or RY posture adjustments after the ideal tooth seeking state has been reached, thereby reducing ineffective adjustment actions, shortening the assembly cycle, and reducing the risk of the formed tooth entry channel being destroyed due to excessive posture compensation, thus improving the stability and efficiency of the flexible meshing process.

[0064] In some embodiments, when the clamped component is in the centering position, the coordinates of the displacement moving device 500 are (X01, Y01, Z0, RX0, RY0, RZ0). In the false engagement judgment step, when the clamped component moves a distance of the first preset distance L3, the coordinates of the displacement moving device 500 are (X02, Y02, Z02, RX02, RY02, RZ02). At this time, X02, Y02, RX02, and RY02 can reflect the radial position and tilting posture obtained after rotational tooth finding and attitude fine-tuning, and Z02 reflects the axial position after passing through the introduction area. In order to complete the final assembly of the planetary gear set 100 and the gear ring 200 under the specified circumferential reference, the clamped component can be driven to rotate around the Z-axis first, and the coordinates of the displacement moving device 500 can be adjusted to (X02, Y02, Z02, RX02, RY02, RZ0). During the return process, the force sensing device 400 can continuously monitor the axial pressure and torque. If the situation exceeds the safety threshold, it can stop and re-find the gears.

[0065] Once the RZ attitude returns to the initial circumferential reference, the driven clamped part continues to move along the Z-axis towards the part to be meshed to coordinates (X02, Y02, Z02-L1+L3, RX02, RY02, RZ0), enabling the planetary gear set 100 to mesh with the gear ring 200. Here, L1 is the maximum meshing length between the planetary gear set 100 and the gear ring 200. Since the clamped part has already entered a distance of L3 along the Z-axis during the sham meshing judgment, the remaining stroke required for final tooth engagement can be determined according to L1-L3. By retaining X02, Y02, RX02, and RY02, the clamped part can continue to enter the gear ring 200 along the spatial attitude corrected by force feedback; by adjusting RZ back to RZ0, the finally assembled planetary gear set 100 can meet the product's circumferential positioning requirements. This process avoids both rigid pressing in the initial tooth-top state and the problem of circumferential angle deviation from the design assembly reference after tooth finding.

[0066] In some embodiments, if the angle of rotation of the gripped component around the Z-axis has accumulated to more than 45° during the rotary tooth-finding step, the steps of entering the centering position, the axial approach, and the rotary tooth-finding step are re-executed, and the direction of rotation of the gripped component around the Z-axis is reversed during the rotary tooth-finding step.

[0067] If, during the rotary tooth-finding process, the clamped component has rotated more than 45° around the Z-axis but still fails to meet the conditions for entering false engagement, it indicates that the current centering position, contact posture, or rotation direction may cause a local tooth surface to remain in an unfavorable contact state. In this case, continuing to rotate in the same direction not only makes it difficult to improve the tooth-finding success rate but may also increase the tooth flank friction path. Therefore, in some embodiments, the control device re-executes the centering position entry step, the axial approach step, and the rotary tooth-finding step, and when re-executing the rotary tooth-finding, the direction of rotation of the clamped component around the Z-axis is reversed. Re-centering eliminates the accumulated deviation caused by posture adjustment, elastic deformation, or local jamming during the previous tooth-finding process; reversing the rotation changes the relative sliding direction between the tooth tip and tooth flank, transforming the original wedging tendency into a releasing tendency, thereby improving the success rate of the second tooth-finding and reducing tooth surface wear.

[0068] To further improve the accuracy of automatic centering, such as Figure 6As shown, in some embodiments, the flexible meshing method of the planetary gear set and the gear ring of this application further includes a centering position acquisition step. The centering position acquisition step includes: forming an auxiliary positioning cavity at one end of the planetary gear set 100, the wall of the auxiliary positioning cavity being a cylindrical positioning surface 140 coaxial with the planetary gear set 100; driving the clamped component closer to the component to be meshed to the centering start position, at which time the cylindrical positioning surface 140 and the gear ring 200 at least partially overlap in the Z direction; driving the clamped component to move in the radial direction; when the force sensing device 400 detects that the contact force between the gear ring 200 and the cylindrical positioning surface 140 reaches a preset contact force, recording the contact position of the clamped component in the radial direction; and determining the centering position of the clamped component and the component to be meshed based on the contact position.

[0069] like Figure 17-19 As shown, an auxiliary positioning cavity is formed at one end of the planetary gear set 100. The wall of the auxiliary positioning cavity is a cylindrical positioning surface 140 coaxial with the planetary gear set 100. This cylindrical positioning surface 140 can be the cylindrical surface of the planetary gear set 100 itself, or it can be an auxiliary positioning structure on the clamping device 300 that moves synchronously with the clamped part. The control device drives the clamped part to approach the part to be engaged to the centering start position. At this centering start position, the cylindrical positioning surface 140 and the gear ring 200 at least partially coincide in the Z direction, but gear engagement does not occur. Since the cylindrical positioning surface 140 is coaxial with the planetary gear set 100, and the inner circle or corresponding positioning surface of the gear ring 200 is coaxial with the gear ring 200, the deviation between the axis of the planetary gear set 100 and the axis of the gear ring 200 can be deduced by detecting the contact position of the cylindrical positioning surface 140 and the gear ring 200 in the radial direction.

[0070] At the initial alignment position, the displacement and movement device 500 drives the clamped component to move radially. When the force sensing device 400 detects that the contact force between the toothed ring 200 and the cylindrical positioning surface 140 reaches a preset contact force, the control device records the contact position of the clamped component in that radial direction. The preset contact force can be less than a safety force that would cause damage to the toothed ring 200 or the auxiliary positioning surface; it is only used to determine that reliable contact has occurred between the two cylindrical positioning surfaces 140. After recording the contact position, the displacement and movement device 500 can return the clamped component to the initial alignment position and continue probing along another radial direction. Through this force-sensing probing method, it is not necessary to rely on manual visual inspection or external visual identification of the center of the toothed ring 200. Even with the existence of toothed ring 200 fixing errors, tooling positioning errors, and clamping errors of the clamped component, the alignment position can be obtained directly based on the geometric contact relationship of the component to be assembled.

[0071] Preferably, the radial direction may include the positive X-coordinate, negative X-coordinate, positive Y-coordinate, and negative Y-coordinate. Driving the clamped component to move radially includes: driving the clamped component to move along the positive X-coordinate, negative X-coordinate, positive Y-coordinate, and negative Y-coordinate respectively; when the force sensing device 400 detects that the contact force between the toothed ring 200 and the cylindrical positioning surface 140 reaches a preset contact force, it records the contact positions corresponding to the positive X-coordinate, negative X-coordinate, positive Y-coordinate, and negative Y-coordinate respectively. Through four-way probing, the positions of the two side boundaries of the toothed ring 200 in the X and Y directions can be obtained respectively. Compared with single-direction contact positioning, four-way probing can eliminate the influence of the diameter tolerance of the toothed ring 200, the diameter tolerance of the auxiliary positioning surface, and the initial offset on the center determination.

[0072] After obtaining the contact positions in four directions, the X-axis center coordinates can be determined based on the positive and negative X-axis contact positions, and the Y-axis center coordinates can be determined based on the positive and negative Y-axis contact positions. The centering position can then be determined using both the X-axis and Y-axis center coordinates. For example, when the recorded contact positions are absolute coordinates, the midpoint between the positive and negative X-axis contact positions can be used as the X-axis center coordinates, and the midpoint between the positive and negative Y-axis contact positions can be used as the Y-axis center coordinates. When the recorded movement is relative to the initial centering position, the original X0 and Y0 can be compensated based on the difference in movement between the two sides. Since the center coordinates are jointly determined by the relative contact positions on both sides, the axis of the clamped component can be moved to near the geometric center of the gear ring 200, thus providing a better initial state for subsequent axial approach and flexible tooth finding.

[0073] In some embodiments, the Z-axis distance between the end of the planetary gear set 100 and the end face of the planetary gear 110 is a second preset distance L2. At the initial alignment position, such as... Figure 16 and 17 As shown, the overlap distance between the cylindrical positioning surface 140 and the gear ring 200 in the Z direction is αL2, where 0 < α < 1. This overlap distance must ensure sufficient axial overlap length between the cylindrical positioning surface 140 and the gear ring 200 to achieve stable contact during radial probing; it must also prevent the cylindrical positioning surface 140 from being inserted too deeply and interfering with other gear structures or tooling structures. α can be determined based on the end structure of the planetary gear set 100, the axial dimension of the gear ring 200, and the clamping error.

[0074] In the axial approach step: when the axial pressure on the clamped component reaches a first preset ratio of the first safety pressure threshold, the moving distance of the clamped component along the Z-axis is obtained as L4; if L4 < β * (1-α) * L2, where 0.8 < β ≤ 1, the clamped component is controlled to return to the centering position.

[0075] The reason is that, at the beginning of the centering position, such as Figure 17 As shown, the cylindrical positioning surface 140 and the gear ring 200 already have an axial overlap of αL2. Under normal circumstances, the clamped part should be able to continue moving along the Z-axis for a distance of approximately (1-α)L2 before the end face or teeth of the planetary gear 110 enter the position. Figure 18 The actual contact area is shown. If the actual movement distance L4 is significantly less than this theoretical distance, it may indicate that the gripped part has not yet reached the theoretical contact area. Figure 18 The expected tooth contact position shown has been preceded by an abnormal collision, such as jamming between the cylindrical locating surface 140 and the end of the gear ring 200, excessive centering deviation, incomplete workpiece placement, or abnormal clamping posture. By returning to the centering position in this situation, the abnormal contact can be avoided from being mistaken for gear meshing contact, thereby improving the safety and fault recoverability of the assembly process.

[0076] To obtain the starting coordinates for centering, such as Figure 7 As shown, in some embodiments, the flexible meshing method of the planetary gear set and the ring gear further includes a step of obtaining the centering start coordinates. The components to be meshed can be fixed in a fixed position on the worktable, and the planetary gear set 100 and the ring gear 200 can be manually assisted to achieve full meshing, with the coordinates of the displacement device 500 at this time calibrated as (X1, Y1, Z1, RX1, RY1, RZ1). In the fully meshed state, the axes and orientations of the planetary gear set 100 and the ring gear 200 can be used as assembly references. Let L1 be the maximum meshing length between the planetary gear set 100 and the gear ring 200. When the gears just disengage, the axial coordinate can be understood as returning to L1 relative to the fully meshed state. Further considering that the cylindrical positioning surface 140 and the gear ring 200 need to maintain the overlap of αL2 at the initial alignment position, i.e., the axial interval relationship of (1-α)L2 must also be retained, the initial alignment coordinates can be determined as (X0, Y0, Z0, RX0, RY0, RZ0), where X0=X1, Y0=Y1, Z0=Z1+L1+(1-α)L2, RX0=RX1, RY0=RY1, and RZ0=RZ1. In the subsequent alignment position acquisition step, the displacement moving device 500 moves to this initial alignment coordinate and then performs four-way radial probing. By first using the fully engaged state as the teaching reference, and then combining L1, L2 and α to calculate the centering start position, the impact of repeated manual trial assembly on the production cycle can be reduced, and the centering start point of different batches of products can be repeated.

[0077] It should be noted that, while obtaining the centering start coordinates can be achieved through manual teaching calibration to determine the reference coordinates in the fully engaged state, thus obtaining X0=X1 and Y0=Y1, these X0 and Y0 coordinates are only used to determine the centering start position and cannot be directly used as the centering position coordinates during subsequent actual engagement. This is because, in subsequent batch or continuous assembly processes, after the parts to be engaged are placed in their fixed positions on the worktable, their axial height is mainly determined by the axial dimension of the parts themselves, the worktable support surface, and the height of the positioning fixture. Therefore, the Z-axis coordinates can be directly determined or used based on the aforementioned calibration relationship. However, the actual radial position of the parts to be engaged is affected by factors such as placement errors, positioning gaps, fixture repetitive positioning errors, and part dimensional tolerances, making it difficult to guarantee complete consistency with the radial position of the parts to be engaged during manual teaching.

[0078] Therefore, the X0 and Y0 coordinates obtained through manual teaching are more suitable as initial reference coordinates for driving the clamped part into the centering start position, rather than directly as centering position coordinates before the final meshing of the planetary gear set 100 and the gear ring 200. To ensure that the central axis of the clamped part accurately corresponds to the central axis of the part to be meshed in the current actual placement state during subsequent meshing, this application still needs to perform a centering position acquisition step after the centering start position. By detecting the radial contact between the cylindrical positioning surface 140 and the gear ring 200, the X-axis center coordinates and Y-axis center coordinates in the current assembly state are re-acquired. This eliminates the radial deviation generated during each loading or positioning of the part to be meshed, ensuring that subsequent axial approach, rotational tooth finding, and tooth engagement are all based on the true center position of the current workpiece, thereby improving the centering accuracy and meshing stability of automatic assembly.

[0079] As an illustrative example, as shown in the figure, the following is an illustrative example of the entire process of the flexible meshing method between a planetary gear set and a gear ring provided in this application embodiment, wherein the planetary gear set 100 is the clamped component and the gear ring 200 is the component to be meshed.

[0080] like Figure 8 The diagram illustrates the steps for obtaining the centering position in the flexible meshing method between the planetary gear set and the gear ring, specifically including: Step S101: Establish the three-dimensional coordinates of the displacement moving device 500 through calibration, so that the radial direction of the strain gauge of the force sensing device 400 coincides with the (X, Y) direction of the coordinate, the axial direction of the force sensing device 400 coincides with the Z direction of the coordinate, and the origin of the coordinate is the center of the end face of the planetary gear set 100 in the direction of the gear ring 200.

[0081] Step S102: Obtain the maximum safe force N0 that does not damage any tooth surface, tooth tip, or structural component surface of the planetary gear set 100 and the gear ring 200 when the tooth tips of the planetary gear set 100 and the gear ring 200 are in contact.

[0082] Step S103: The end face of planetary gear 110 and the end face of planetary gear set 100 are both cylindrical positioning surfaces 140, that is, the cylindrical positioning surface 140 and the end face of planetary gear 110 form a mating step. Obtain the mating step length of planetary gear set 100 and gear ring 200, that is, the Z-direction length of cylindrical positioning surface 140, which is also the second preset distance L2. The second preset distance L2 needs to cover the dimensional tolerances of planetary gear set 100 and gear ring 200 and the errors of clamping device 300 and displacement moving device 500.

[0083] Step S104: Fix one end of the gear ring 200 on the worktable.

[0084] Step S105: Obtain the centering start coordinates (X0, Y0, Z0, RX0, RY0, RZ0) through manual teaching and with the assistance of a length measuring tool. Specifically, when the planetary gear set 100 and the gear ring 200 are fully engaged, the coordinates of the displacement device 500 are (X1, Y1, Z1, RX1, RY1, RZ1); when the planetary gear set 100 and the gear ring 200 have just disengaged, the coordinates of the displacement device 500 (based on disengagement in one direction) are (X1, Y1, Z1+L1, RX1, RY1, RZ1); thus obtaining X0=X1, Y0=Y1, Z0=Z1+L1+L2 / 2, RX0=RX1, RY0=RY1, RZ0=RZ1. In this step, α=1 / 2.

[0085] Step S106: Obtain the positive X coordinate value. When the coordinates of the displacement and movement device 500 are (X0, Y0, Z0, RX0, RY0, RZ0), the displacement and movement device 500 moves in the positive X direction until the force sensing device 400 senses the preset contact force N value, records the X coordinate at this time as Xa, and returns to the initial coordinates (X0, Y0, Z0, RX0, RY0, RZ0). Step S107: Obtain the negative X coordinate value. When the coordinates of the displacement moving device 500 are (X0, Y0, Z0, RX0, RY0, RZ0), the displacement moving device 500 moves in the negative X direction until the force sensing device 400 senses the preset contact force N value, records the X coordinate at this time as Xb, and returns to the initial coordinates (X0, Y0, Z0, RX0, RY0, RZ0). Step S108: Obtain the positive Y coordinate value. When the coordinates of the displacement and movement device 500 are (X0, Y0, Z0, RX0, RY0, RZ0), the displacement and movement device 500 moves in the positive Y direction until the force sensing device 400 senses the preset contact force N value. The Y coordinate at this time is recorded as Ya, and the device returns to the initial coordinates (X0, Y0, Z0, RX0, RY0, RZ0). Step S109: Obtain the negative Y coordinate value. When the coordinates of the displacement moving device 500 are (X0, Y0, Z0, RX0, RY0, RZ0), the displacement moving device 500 moves in the negative Y direction until the force sensing device 400 senses the preset contact force N value, records the Y coordinate at this time as Yb, and returns to the initial coordinates (X0, Y0, Z0, RX0, RY0, RZ0). Step S110: Obtain the coordinates after alignment, where: X01=(Xa) / 2+(Xb) / 2; Y01=(Ya) / 2+(Yb) / 2; The alignment position coordinates required before the current planetary gear set 100 and gear ring 200 mesh are (X01, Y01, Z0, RX0, RY0, RZ0).

[0086] Step S111: The displacement moving device 500 moves to the centering position coordinates (X01, Y01, Z0, RX0, RY0, RZ0).

[0087] like Figure 9 The method for flexible meshing between a planetary gear set and a gear ring, as shown, also includes subsequent axial approach steps, rotary tooth finding steps, attitude adjustment steps, false meshing judgment steps, and tooth engagement steps, specifically including: Step S201: The displacement moving device 500 moves to the coordinates (X01, Y01, Z0, RX0, RY0, RZ0) obtained by the centering method. Step S202: Obtain the maximum safe pressure N1 (i.e., the first safe pressure threshold) and the maximum safe torque T1 (i.e., the first safe torque) without damaging any tooth surface or tooth tip of the planetary gear set 100 and the gear ring 200 when they come into contact. The force sensing device 400 will monitor the entire process in the following stages. If N1 and T1 are exceeded, the assembly device of the planetary gear set 100 must stop immediately and return to the initial position.

[0088] Step S203: Obtain the safe meshing force N2 without damaging the structure of the planetary gear set 100 and the gear ring 200 after the planetary gear set 100 and the gear ring 200 have completed contact and tooth engagement, which is the second safety threshold. Step S204: Obtain the maximum meshing length L1 between the planetary gear set 100 and the gear ring 200; Step S205: Obtain the safe opposing displacement value L3 between the planetary gear set 100 and the gear ring 200, which is the first preset distance. L3 is the limit distance for the phenomenon of mis-engagement of teeth caused by chamfering, tooth clearance, etc. between the planetary gear 110 and the gear ring 200 (the monitoring pressure drops rapidly, but the gear does not actually engage the teeth). L3 can be set directly according to "chamfer depth + 2mm".

[0089] Step S206: Obtain the RX adjustment unit. In this embodiment, the RX adjustment unit is 1°. Step S207: Obtain the RY adjustment unit. In this embodiment, the RY adjustment unit is 1°. Step S208: Obtain the RZ adjustment unit. In this embodiment, the RZ adjustment unit is 2°. Step S209: Obtain the RZ adjustment speed. In this embodiment, the RZ adjustment speed is 2° / s. Step S210: The planetary gear set 100 moves along the Z direction toward the gear ring 200 until the force sensing device 400 senses 4 / 5 of the pressure N1 value and holds it. At the same time, it is determined whether the moving distance is close to L2 / 2. If it is not close, it indicates that there is an abnormality in the process and it needs to return to the initial position. Step S211: The displacement moving device 500 rotates in the positive direction along the coordinate Z axis. If the real-time torque does not exceed the torque T1 and the maximum pressure is less than 1 / 3 of the N1 value, then skip directly to step S214.

[0090] Step S212: For each rotation of one RZ adjustment unit, adjust the attitude of the planetary gear set 100 according to the force condition of the force sensing device 400. For example, if the absolute value of the difference between the force in the positive X region and the force in the negative X region of the force sensing device is greater than the absolute value of the difference between the force in the positive Y region and the force in the negative Y region of the force sensing device, then the displacement moving device 500 rotates one RY adjustment unit along the Y axis, with the rotation direction being the region with less force.

[0091] Step S213: Repeat steps S211 and S212 until one of the following two situations occurs. First: If the displacement device 500 rotates more than 45° along the Z-axis, it needs to return to the coordinate system (X01, Y01, Z0, RX0, RY0, RZ0), and then start from step S210 again, with step S211 reversed. Second: If the force sensing device 400 senses that the maximum pressure is less than 1 / 3 of the N1 value, proceed to the next step. Step S214: Continue moving in the direction of step S210 at a speed of 2 mm / s until the moving distance exceeds L3. Monitor the axial pressure during the process. If the axial pressure reaches the N1 value during the process, stop moving and repeat steps S211, S212, and S213.

[0092] Step S215: After moving L3 in step S214, the coordinates are (X02, Y02, Z02, RX02, RY02, RZ02). Rotate the Z-axis to RZ0 and move to the coordinates (X02, Y02, Z02, RX02, RY02, RZ0) at a speed of 2° / s.

[0093] Step S216: Move to the point with coordinates (X02, Y02, Z02-L1+L3, RX02, RY02, RZ0) at a speed of 10 mm / s. Monitor the axial pressure in real time during the process. If the axial pressure reaches the second safety threshold N2 value during the process, stop moving immediately and control the planetary gear set to separate from the gear ring, and re-execute the flexible meshing method of the planetary gear set and the gear ring.

[0094] Step S217: Release the clamping device 300, and the assembly device of the planetary gear set 100 returns to the starting point.

[0095] like Figure 10-22 As shown in the illustration, this application also provides a flexible meshing device for a planetary gear set and a ring gear, which can be used to perform the above-described flexible meshing method for a planetary gear set and a ring gear. The flexible meshing device includes a clamping device 300, a force sensing device 400, a displacement movement device 500, and a control device.

[0096] Clamping device 300 is used to clamp one of planetary gear set 100 and gear ring 200; force sensing device 400 is used to detect the force and torque during the assembly process of the clamped part and the part to be meshed; displacement moving device 500 is connected to clamping device 300 and is used to drive the clamped part to move and rotate in a six-dimensional coordinate system; control device is connected to force sensing device 400 and displacement moving device 500 respectively, and the control device is used to control displacement moving device 500 to perform flexible meshing method between planetary gear set and gear ring according to the force and torque detected by force sensing device 400.

[0097] During assembly, the clamping device 300 preferably acts on the outer peripheral positioning surface, end face positioning surface, or other non-tooth surface area of ​​the cage, rather than directly clamping the tooth surface of the planetary gear 110. This avoids indentations and scratches caused by the clamping force directly acting on the tooth tip or tooth flank of the planetary gear 110. Furthermore, since the cage serves as a common mounting reference for multiple planetary gears 110, its outer peripheral surface, end face, or positioning hole is generally more suitable as a clamping reference. By radially clamping, axially pressing, and angularly positioning the cage, the central axis of the planetary gear set 100 can maintain good consistency with the motion reference of the clamping device 300, the force sensing device 400, and the displacement movement device 500, thereby improving the control accuracy of subsequent centering, rotary tooth finding, and attitude adjustment.

[0098] Optionally, one end of the cage may also form an auxiliary positioning cavity, the wall of which constitutes a cylindrical positioning surface 140 coaxial with the planetary gear set 100. This cylindrical positioning surface 140 can be an inner cylindrical surface machined from the cage itself, or it can be a sleeve-shaped positioning structure, an annular positioning structure, or other positioning surface that can reflect the position of the central axis of the planetary gear set 100, located at the end of the cage. Preferably, such as... Figure 17-19 As shown, the cylindrical positioning surface 140 is the inner wall surface of the lower gear cage 130. During the centering position acquisition process, the cylindrical positioning surface 140 moves as a whole with the planetary gear set 100 and at least partially coincides with the gear ring 200 in the Z direction. By detecting the contact positions between the cylindrical positioning surface 140 and the gear ring 200 in the positive X, negative X, positive Y, and negative Y directions, the actual center position of the gear ring 200 relative to the planetary gear set 100 can be determined. Since the cylindrical positioning surface 140 is coaxial with the planetary gear set 100, radial probing with the cylindrical positioning surface 140 can align the geometric center of the cage with the geometric center of the gear ring 200, thereby improving the centering accuracy of the planetary gear set 100 before it enters the gear ring 200.

[0099] Through the above structure, although the planetary gear set 100 consists of multiple planetary gears 110 that can rotate relative to the cage, it can be regarded as a single unit with a defined central axis and clamping reference for handling and attitude control during automatic assembly. Simultaneously, the initial tooth angle differences between each planetary gear 110 and the ring gear 200 can be flexibly compensated for through rotational tooth finding, torque monitoring, and attitude fine-tuning. Thus, the cage ensures the overall positional accuracy of the multiple planetary gears 110 while avoiding rigid press-fitting due to the random initial tooth positions of each planetary gear 110, thereby reducing the risk of tooth surface and tip damage and improving the automatic meshing efficiency between the planetary gear set 100 and the ring gear 200.

[0100] Specifically, the clamping device 300 is used to clamp one of the planetary gear set 100 and the gear ring 200, so that the clamped part remains stable during movement, rotation and attitude adjustment; the force sensing device 400 is used to detect the force and torque during the assembly process of the clamped part and the part to be meshed; the displacement moving device 500 is connected to the clamping device 300 and is used to drive the clamped part to move and rotate in a six-dimensional coordinate system; the control device is connected to the force sensing device 400 and the displacement moving device 500 respectively, and is used to control the displacement moving device 500 to perform centering, axial approach, rotational tooth finding, attitude adjustment, false meshing judgment and tooth engagement according to the force and torque detected by the force sensing device 400.

[0101] During assembly, the control device can pre-store parameters such as a first safe pressure threshold, a first safe torque threshold, a first preset ratio, a second preset ratio, L1, L2, L3, α, β, RX adjustment units, RY adjustment units, RZ adjustment units, and RZ adjustment speed. The force sensing device 400 sends the detected force and torque signals to the control device. The control device generates motion control commands based on the comparison between the detected values ​​and preset thresholds. The displacement and movement device 500 then performs linear movement or rotation of the clamped part according to these motion control commands. Thus, the assembly device forms a closed-loop control method of force sensing—judgment—displacement—re-sensing, rather than forced pressing along a fixed trajectory. This closed-loop control method can adapt to different initial angles of the planetary gears 110, different clamping deviations of the gear rings 200, and different batches of parts tolerances, exhibiting good flexibility and compatibility.

[0102] Optionally, in some embodiments, when executing the flexible meshing method, the control device can divide the assembly process of the planetary gear set 100 and the gear ring 200 into multiple consecutive control states, and switch between different control states based on the force and torque signals fed back by the force sensing device 400. Specifically, the control states may include centering state, axial approach state, contact holding state, rotary tooth seeking state, attitude compensation state, false meshing judgment state, tooth entry and advance state, and abnormal return state. Each control state is not isolated from each other, but rather the detection result of the previous state serves as the entry condition for the next state. For example, only after the centering position is acquired does the control device control the clamped part to enter the axial approach state; only after the axial pressure reaches a first preset proportion of the first safety pressure threshold does the axial feed stop and the rotary tooth seeking state begin; only when the maximum axial pressure decreases to below a second preset proportion of the first safety pressure threshold during the rotary tooth seeking process does the false meshing judgment or tooth entry and meshing proceed. Through this state-based control method, the displacement moving device 500 can avoid directly completing all actions according to a fixed trajectory, allowing the assembly process to be adaptively adjusted according to the actual contact state.

[0103] Optionally, during this control process, the force and torque data output by the force sensing device 400 can be filtered, zero-point compensated, and threshold compared before being called by the control device. Since the planetary gear set 100 and the gear ring 200 may experience instantaneous impacts or short-term vibrations during contact, sliding, and tooth engagement, directly using the instantaneous peak value as the judgment basis can easily lead to erroneous shutdowns or misjudgments of the tooth engagement state. Therefore, the control device can perform averaging, peak value maintenance, or trend judgment on the axial pressure, radial force, and torque within a preset time window. For example, during the rotary tooth-finding process, the maximum axial pressure value corresponding to each RZ adjustment unit rotation of the gripped component can be used as a judgment sample, and combined with the real-time torque change within that adjustment unit to determine the current tooth surface contact state; during the false engagement judgment process, the Z-axis pressure can be continuously monitored to see if it rises back to the first safe pressure threshold within the movement distance L3, thereby eliminating instantaneous pressure drops caused by chamfering, backlash, or local elastic clearance. By continuously judging the mechanical signals, rather than relying solely on the detection value at a single moment, the stability of the flexible engagement judgment can be improved.

[0104] Optionally, the first safety pressure threshold, the first safety torque threshold, the preset contact force, the first preset ratio, and the second preset ratio can be calibrated according to the structural parameters of different models of planetary gear sets 100 and gear rings 200. These structural parameters may include gear module, number of teeth, tooth width, tooth tip chamfer size, gear ring inner tooth thickness, cage stiffness, clamping stiffness of the clamping device 300, and motion accuracy of the displacement and movement device 500. For planetary gear sets 100 with larger tooth widths or higher cage stiffness, the allowable pressure during the contact and holding process can be appropriately increased to ensure that the force sensing device 400 can stably identify the contact state. For gear structures with smaller tooth tip chamfers or thinner tooth surface treatment layers, the first safety pressure threshold and the first safety torque threshold can be appropriately reduced to reduce the risk of tooth surface scratches or coating damage. By configuring the above thresholds as calibrable parameters, the same flexible meshing device can be adapted to coaxial reducer products of different specifications without requiring the redesign of dedicated guide gears or mechanical pre-meshing fixtures for each product.

[0105] Optionally, in scenarios where multiple planetary gears 110 engage simultaneously, the control device can also determine whether the current interference originates primarily from overall eccentricity, attitude tilt, or tooth misalignment based on the changing trend of the force distribution. When there is a persistently large force difference between the positive and negative sides of the X-axis, or between the positive and negative sides of the Y-axis, it usually indicates that the clamped component has radial off-center loading or end face tilt relative to the component to be meshed. In this case, by adjusting the RX or RY attitude in the opposite direction, the local high-stress area can be released first. When the overall axial pressure is large while the force difference between different areas is small, it may indicate that multiple planetary gears 110 are simultaneously in a state where the tooth tip is close to the tooth tip or the tooth tip is close to the tooth flank. In this case, it is more suitable to find the tooth groove by rotating around the Z-axis rather than prioritizing attitude compensation. When the axial pressure decreases but the real-time torque remains high, it may indicate that the gear has entered a local engagement position, but there is still tooth flank compression or jamming in the circumferential direction. In this case, it is not advisable to directly engage the tooth, but to continue rotating to find the tooth or making minor attitude adjustments. Therefore, the control device can distinguish different abnormal contact states and select the corresponding motion strategy based on the combination relationship between force and torque signals.

[0106] Optionally, in some embodiments, the displacement and movement device 500 can employ different speed strategies when performing actions in each direction. A relatively low feed rate can be used during the axial approach phase to allow the force sensing device 400 to promptly capture the initial contact signal; a low-speed rotation matching the RZ adjustment unit can be used during the rotary tooth-finding phase to keep the relative slippage between the teeth under control; a short-stroke, low-speed advance can be used during the false engagement judgment phase to improve the accuracy of identifying pressure re-increase phenomena; and after confirming that the L3 distance has been traversed and the pressure remains safe, a relatively high but still limited advance speed can be used during the tooth engagement phase to shorten the final assembly cycle time. Using different speeds at different stages can balance contact detection sensitivity and mass production cycle time requirements, avoiding low efficiency due to low speed throughout the entire process, and also avoiding force feedback lag and tooth surface impact caused by high speed throughout the entire process.

[0107] like Figure 13-22As shown, in some embodiments, the clamping device 300 can be selected from various clamping tools in the prior art. As an illustrative example, the clamping device 300 may include a clamping assembly and a clamping and positioning assembly. The clamping assembly is used to radially clamp the clamped part, and may include, for example, a three-jaw cylinder 311, a clamping block 312, a clamping block 313, or other clamping structures that can synchronously approach each other radially. The clamping blocks 312 and clamping blocks 313 are interconnected and arranged in three sets. The three sets of clamping blocks 312 and clamping blocks 313 are distributed on the same circumference. The clamping block 312 is located outside the clamping block 313. The clamping block 312 is made of elastic material and has an arc-shaped outer contour. The three-jaw cylinder 311 is used to drive the three clamping blocks 313 to move synchronously radially, thereby driving the clamping block 312 to move synchronously radially. The clamping block 312 is used to directly contact and clamp the clamped part. For example, when the clamped part is a planetary gear set 100, during operation, the clamping block 312 and the clamping block 313 can extend into the through hole in the middle of the gear retainer 120. The clamping block 312 and the clamping block 313 move away from each other radially until all three clamping blocks 312 are in close contact with the inner circumferential surface of the gear retainer 120. By forming several clamping points through multiple elastic clamping blocks 312, a clamping force is applied to the clamped part radially, which can make the inner circle or positioning part of the clamped part maintain a good coaxiality with the clamping center of the clamping device 300. The clamping and positioning assembly is used to axially clamp and angularly position the clamped part. For example, it may include a clamping block seat 321, a clamping block 322, a tapered pin 323, or other positioning components that mate with positioning holes or slots on the clamped part. The clamping block 322 is located at the lower axial end of the clamping block seat 321. The tapered pin protrudes telescopically from the end face of the clamping block. The clamping block 322 clamps the end face of the clamped part, and the tapered pin, after being inserted into the positioning hole or slot on the clamped part, achieves circumferential limiting. Axial clamping restricts the movement of the clamped part in the Z direction, and angular positioning ensures that the clamped part maintains a predetermined circumferential reference relative to the clamping device 300. Through the cooperation of the clamping assembly and the clamping and positioning assembly, the clamped part is less prone to relative slippage during rotational tooth seeking and attitude adjustment, thus ensuring that the coordinate changes output by the control device are accurately transmitted to the meshing end face of the clamped part.

[0108] Since clamping errors directly affect subsequent alignment and meshing accuracy, in some embodiments, multiple clamping surfaces of the clamping assembly can be machined into arc surfaces adapted to the outer circle of the clamped part, and the geometric centers of the multiple clamping surfaces coincide as much as possible with the rotation center of the displacement and movement device 500. The clamping and positioning assembly can be located on the side of the clamped part away from the meshing end, and axial clamping makes the clamped part abut against the clamping reference surface. In this way, radial clamping ensures the center position, axial clamping ensures the end face posture, and angular positioning ensures the circumferential reference; all three work together to reduce the positional drift of the clamped part during assembly. Because the closer the center of the clamped part, the measurement center of the force sensing device 400, and the rotation center of the displacement and movement device 500 are, the more accurate the torque back-calculation and posture compensation, thus improving the stability of flexible meshing control.

[0109] In some implementations, such as Figure 12 As shown, the force sensing device 400 includes a connecting flange 410 and a six-dimensional force sensing module 420. The connecting flange 410 is used to establish a mechanical connection between the six-dimensional force sensing module 420 and the clamping device 300 and the displacement and movement device 500, and to transmit the assembly force on the clamped part to the six-dimensional force sensing module 420. The six-dimensional force sensing module 420 is used to detect the force along the X, Y, and Z coordinates, as well as the torque around the RX, RY, and RZ coordinates. The six-dimensional force sensing module 420 can realize force-to-electricity conversion based on an elastic body, strain gauges, and a bridge circuit, and output six-dimensional force / torque data through a decoupling algorithm. The control device can determine the axial contact state and tooth engagement state based on the Z-axis force, determine whether there is circumferential jamming during the rotational tooth-finding process based on the torque around the Z-axis, and determine the uneven force on the clamped part in the Y and X directions based on the torque around the X and Y axes, and perform RX or RY attitude compensation accordingly.

[0110] By setting the connecting flange 410, the force received by the clamping device 300 can be completely transmitted to the six-dimensional force sensing module 420, reducing the impact of loose intermediate connecting parts or uneven load on the detection results. The six-dimensional force sensing module 420 simultaneously detects force and torque, transforming the tooth-mounting, eccentricity, jamming, and tooth engagement states—which rely on manual judgment in traditional assembly—into quantifiable control signals. Since the control device can adjust the displacement movement device 500 in real time based on these signals, it can stop or change the direction of movement before gear damage occurs, reducing the probability of tooth surface scratches and tooth tip collisions, and improving the consistency of automated assembly of the planetary gear set 100 and the gear ring 200.

[0111] In some embodiments, the displacement and movement device 500 can be a six-axis robot, a six-degree-of-freedom mechanism formed by combining a linear module and a rotary module, or other actuators capable of X, Y, Z, RX, RY, and RZ movements. The repeatability of the displacement and movement device 500 preferably meets the assembly accuracy requirements for the meshing of the planetary gear set 100 and the ring gear 200. The control device can send motion commands to the displacement and movement device 500 via servo control, interpolation control, or a robot controller interface, causing the gripped part to approach axially at a preset speed, rotate RZ at a preset angular velocity, and adjust its RX or RY posture in preset angular units. Since each motion parameter can be configured according to product specifications, the same assembly device can adapt to the assembly of coaxial reducer planetary gear sets 100 and ring gear 200 with different sizes, numbers of teeth, or structural forms.

[0112] In summary, this application uses a six-dimensional servo coordinate system to determine the control reference point of the clamped component, improves the coaxiality of the planetary gear set 100 and the ring gear 200 through force sensing alignment, limits the maximum pressure during axial approach through a force threshold, eliminates local interference caused by random angles of multiple planetary gears 110 through rotational tooth finding and attitude reverse adjustment, and avoids misjudging chamfering or instantaneous pressure drop as actual tooth engagement through false meshing judgment. These technical features work together to enable the assembly process to be completed automatically under controlled force and torque, reducing the need for manual adjustment of planetary gear angles, lowering the risk of tooth surface and tip damage, and improving the consistency, efficiency, and reliability of the assembly of the coaxial reducer planetary gear set 100 and the ring gear 200.

[0113] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0114] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0115] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for flexible meshing of a planetary gear set and a gear ring, characterized in that, The method involves identifying one of a planetary gear set and a gear ring as the clamped component and the other as the component to be meshed. The clamped component is moved using a displacement and movement device. The axial pressure and torque between the clamped component and the component to be meshed are detected in real time using a force sensing device. Coordinate system establishment steps: Establish a six-dimensional follow-up coordinate system (X, Y, Z, RX, RY, RZ) for the displacement and movement device. The X and Y coordinates are radial coordinates, and the Z coordinate is the axial coordinate. The center of the end face of the meshing structure in the clamped part facing the part to be meshed is used as the control reference point of the six-dimensional follow-up coordinate system. Entering the centering position step: control the clamped part to move to the centering position corresponding to the part to be engaged. In the centering position, the central axis of the clamped part is collinear with the central axis of the part to be engaged. Axial approach step: Drive the clamped component to move along the Z-axis toward the component to be engaged. When the axial pressure on the clamped component reaches a first preset ratio of the first safety pressure threshold, the clamped component stops moving along the Z-axis. Rotary tooth-finding step: Drive the clamped component to rotate around the Z-axis until the force sensing device senses that the maximum axial pressure is less than a second preset ratio of the first safety pressure threshold, and the second preset ratio is less than the first preset ratio; Attitude adjustment steps: After the clamped part rotates around the Z-axis by an adjustment unit RZ, adjust the RX or RY attitude of the clamped part in the opposite direction according to the force difference in different areas of the clamped part. Engagement step: Drive the clamped component to move, so that the planetary gear set engages with the gear ring.

2. The flexible meshing method between the planetary gear set and the gear ring according to claim 1, characterized in that, Adjusting the RX or RY posture of the clamped component in reverse, based on the force differences in different regions of the clamped component, includes: Based on the force difference between the positive and negative X-coordinate sides and the positive and negative Y-coordinate sides detected by the force sensing device, the RX and / or RY coordinates of the displacement movement device are adjusted.

3. The flexible meshing method between the planetary gear set and the gear ring according to claim 2, characterized in that, Based on the force difference between the positive and negative X-axis sides and the positive and negative Y-axis sides detected by the force sensing device, adjusting the RX and / or RY coordinates of the displacement movement device includes: Obtain the first difference between the force on the clamped component in the positive X-axis region and the force on the clamped component in the negative X-axis region, and the second difference between the force on the clamped component in the positive Y-axis region and the force on the clamped component in the negative Y-axis region; If the absolute value of the first difference is greater than the absolute value of the second difference, then rotate the Y-axis around the Y-axis to adjust the unit, with the rotation direction being the area of ​​less force. If the absolute value of the first difference is less than the absolute value of the second difference, then rotate the RX adjustment unit around the X-axis, with the rotation direction being the region of less force.

4. The flexible meshing method between the planetary gear set and the gear ring according to claim 1, characterized in that, It also includes a false engagement detection step, which includes: After the force sensing device detects that the maximum axial pressure is less than the first safety pressure threshold by a second preset ratio, it drives the clamped part to continue moving along the Z-axis toward the part to be engaged. If the moving distance is less than L3 and the axial pressure reaches the first safety pressure threshold during the movement, the movement is stopped immediately, and the rotary tooth-finding step and the attitude adjustment step are repeated. During the movement, if the axial pressure is less than the first safety pressure threshold during the movement distance L3, then the tooth engagement step is executed.

5. The flexible meshing method between the planetary gear set and the gear ring according to claim 4, characterized in that, In the rotary tooth-finding step, if the force sensing device detects that the maximum axial pressure is less than a second preset ratio of the first safe pressure threshold, and the real-time torque is less than or equal to the first safe torque threshold, then the false engagement judgment step is executed directly.

6. The flexible meshing method between the planetary gear set and the gear ring according to claim 4, characterized in that, When the clamped component is in the centering position, the coordinates of the displacement moving device are (X01, Y01, Z0, RX0, RY0, RZ0); when the moving distance reaches the first preset distance L3 in the false engagement judgment step, the coordinates of the displacement moving device are (X02, Y02, Z02, RX02, RY02, RZ02); the tooth engagement step includes: Drive the clamped component to rotate around the Z-axis and adjust the coordinates of the displacement and movement device to (X02, Y02, Z02, RX02, RY02, RZ0). The clamped component is driven to move along the Z-axis toward the component to be engaged to coordinate (X02, Y02, Z02-L1+L3, RX02, RY02, RZ0), so that the planetary gear set and the gear ring are engaged, where L1 is the maximum engagement length between the planetary gear set and the gear ring.

7. The flexible meshing method between the planetary gear set and the gear ring according to claim 1, characterized in that, In the rotary tooth-finding step, if the angle of rotation of the clamped component around the Z-axis has accumulated to more than 45°, the steps of entering the centering position, the axial approach, and the rotary tooth-finding step are re-executed, and the direction of driving the clamped component to rotate around the Z-axis in the rotary tooth-finding step is adjusted to the opposite direction.

8. The method for flexible meshing of a planetary gear set and a gear ring according to any one of claims 1-7, characterized in that, It also includes a centering position acquisition step, which includes: One end of the planetary gear set forms an auxiliary positioning cavity. The wall of the auxiliary positioning cavity is a cylindrical positioning surface coaxial with the planetary gear set. The clamped part is driven to approach the part to be meshed to the centering start position. At this time, the cylindrical positioning surface and the gear ring at least partially coincide in the Z direction. Drive the clamped component to move radially; When the force sensing device detects that the contact force between the toothed ring and the cylindrical positioning surface reaches the preset contact force, it records the contact position of the clamped part in the radial direction. The alignment position of the clamped component and the component to be engaged is determined based on the contact position.

9. The flexible meshing method between the planetary gear set and the gear ring according to claim 8, characterized in that, The radial direction includes the positive X-coordinate, the negative X-coordinate, the positive Y-coordinate, and the negative Y-coordinate; The step of driving the gripped component to move in the radial direction includes: driving the gripped component to move along the positive X-axis, the negative X-axis, the positive Y-axis, and the negative Y-axis, respectively; When the force sensing device detects that the contact force between the gear ring and the cylindrical positioning surface reaches the preset contact force, it records the contact positions corresponding to the positive X-axis, the negative X-axis, the positive Y-axis, and the negative Y-axis, respectively.

10. The flexible meshing method between the planetary gear set and the gear ring according to claim 9, characterized in that, The X-axis center coordinates are determined based on the contact positions in the positive and negative X-coordinate directions, the Y-axis center coordinates are determined based on the contact positions in the positive and negative Y-coordinate directions, and the centering position is determined based on the X-axis center coordinates and the Y-axis center coordinates.

11. The flexible meshing method between the planetary gear set and the gear ring according to claim 9 or 10, characterized in that, The Z-axis distance between the end of the planetary gear set and the end face of the planetary gear is a second preset distance L2. At the initial alignment position, the Z-axis overlap distance between the cylindrical positioning surface and the gear ring is αL2, where 0 < α < 1. In the axial approach step: When the axial pressure on the clamped component reaches a first preset ratio of the first safety pressure threshold, the moving distance of the clamped component along the Z-axis is obtained as L4. If L4 < β * (1-α) * L2, where 0.8 < β ≤ 1, then control the clamped part to return to the centering position.

12. The flexible meshing method between the planetary gear set and the gear ring according to claim 11, characterized in that, It also includes the step of obtaining the centering start coordinates, wherein the centering start coordinates are (X0, Y0, Z0, RX0, RY0, RZ0). The step of obtaining the centering start coordinates includes: fixing the parts to be meshed in the fixed position on the worktable, manually assisting in completing the full meshing state of the planetary gear set and the gear ring, and calibrating the coordinates of the displacement movement device at this time as (X1, Y1, Z1, RX1, RY1, RZ1), then X0=X1, Y0=Y1, Z0=Z1+L1+(1-α)L2, RX0=RX1, RY0=RY1, RZ0=RZ1, where L1 is the maximum meshing length of the planetary gear set and the gear ring; In the centering position acquisition step, driving the clamped component to the centering start position includes: the displacement moving device moving to the centering start coordinates (X0, Y0, Z0, RX0, RY0, RZ0).

13. A flexible meshing device for a planetary gear set and a gear ring, characterized in that, include: Clamping device for clamping one of the planetary gear set and the ring gear; Force sensing device, used to detect the force and torque during the assembly process of the clamped part and the part to be engaged; A displacement and movement device, connected to the clamping device, is used to drive the clamped component to move and rotate in a six-dimensional coordinate system; A control device is connected to the force sensing device and the displacement movement device respectively. The control device is used to control the displacement movement device to perform the flexible meshing method of the planetary gear set and the gear ring as described in any one of claims 1 to 12 based on the force and torque detected by the force sensing device.

14. The flexible meshing device between the planetary gear set and the gear ring according to claim 13, characterized in that, The clamping device includes a clamping assembly and a pressing and positioning assembly; the clamping assembly is used to radially clamp the clamped part, and the pressing and positioning assembly is used to axially press and angularly position the clamped part.

15. The flexible meshing device between the planetary gear set and the gear ring according to claim 13, characterized in that, The force sensing device includes a connecting flange and a six-dimensional force sensing module. The six-dimensional force sensing module is used to detect the force along the X coordinate, the Y coordinate and the Z coordinate, and the torque around the RX coordinate, the RY coordinate and the RZ coordinate.

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