Planetary gear transmission assembly automated assembly production line

Abstract

The application discloses a kind of planetary gear drive assembly automation assembly production line, including driving shaft piece machining and assembling equipment, shell storage and handling equipment and planetary gear drive assembly equipment, driving shaft piece machining and assembling equipment contains blank shaft piece storage mechanism, industrial robot A, lathe and driving shaft piece assembling mechanism, can complete blank shaft piece storage, transfer, turning forming, adjust driving shaft piece posture and with the shell of preloaded bearing insert assembly, planetary gear drive assembly equipment contains planetary gear supply storage mechanism, sun gear and inner tooth ring storage mechanism, industrial robot B and planetary gear drive assembly assembly mechanism, can realize planetary gear supply, planetary shaft angle adjustment and sun gear, inner tooth ring automatic assembly, form planetary gear drive assembly, shell storage and handling equipment contains warehouse and transfer handling unit, for shell storage and transfer between each station. Production line realizes full-process automation operation, improves assembly efficiency and precision.

Description

Technical Field

[0001] This invention relates to the field of assembly line technology, and in particular to an automated assembly line for planetary gear transmission assemblies. Background Technology

[0002] Planetary gear transmission assemblies are core components in the field of mechanical transmission. They typically consist of a housing, a drive shaft, a sun gear, planet gears, and an internal gear ring. The housing has a gear mounting area on its upper part and a through-shaft channel at its lower part that passes through the center of the bottom wall of the gear mounting area. Bearings are mounted on the inner wall of the through-shaft channel. The drive shaft includes a sun shaft and a planetary disk located at its upper end. At least one planetary shaft is located on the circumference of the planetary disk, offset from the axis of the sun shaft. When the drive shaft is assembled with the housing, the sun shaft is inserted downward into the inner side of the bearing and forms a rotational fit. The planetary disk and planetary shafts are located in the upper gear mounting area. Each planetary shaft is fitted with a planetary gear. The internal gear ring and the sun gear are also mounted in the gear mounting area of ​​the housing. The internal gear ring is arranged around the outer ring of each planetary gear and meshes with it. Each planetary gear is distributed around the outer ring of the sun gear and meshes with it.

[0003] However, existing planetary gear transmission assemblies of this type have many obvious shortcomings in processing and assembly: On the one hand, the drive shaft is mostly machined separately or formed by multiple clamping, making it difficult to guarantee the relative positional accuracy of each planet shaft and the sun shaft, resulting in large cumulative machining errors; at the same time, there is no unified positioning benchmark during assembly, and the installation direction and positioning method of the sun shaft and planet shaft are not standardized, which easily leads to problems such as misalignment of the drive shaft and uneven meshing clearance of the planetary gears, resulting in poor transmission smoothness, high noise, and severe gear wear, directly affecting the service life and transmission accuracy of the assembly. On the other hand, the industry mostly uses manual labor with simple tooling to complete the assembly work, with extremely low automation and a very outdated assembly mode; various gear parts are scattered and there is no dedicated storage and material supply mechanism, requiring repeated manual material handling and loading, which not only results in high labor costs but also makes it impossible to unify the assembly rhythm and achieve continuous mass production. The pre-assembled drive shaft housing lacks dedicated multi-station transfer tooling, requiring frequent manual handling and repositioning. This disrupts the seamless integration of loading / unloading and multi-process assembly, resulting in low production efficiency. Furthermore, the planetary shaft requires precise alignment for planetary gear assembly, relying on manual adjustment and visual inspection, leading to significant alignment errors and issues such as misaligned or improperly fitted planetary gears, resulting in a high defect rate. In addition, uneven force and position control during manual assembly easily cause gear damage and substandard meshing clearance, affecting the overall transmission performance. Moreover, the entire process of loading / unloading the housing and transferring finished products relies on manual handling, resulting in high labor intensity, poor product assembly consistency, and an inability to guarantee stable assembly quality and product reliability. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides an automated assembly production line for planetary gear transmission assemblies, which realizes full-process automation of the processing of drive shaft components, assembly of drive shaft components and housing, assembly of planetary gear transmission assemblies, and storage and transportation of housing, thereby reducing manual intervention and improving assembly efficiency, assembly accuracy, and product consistency.

[0005] The technical solution of the present invention: an automated assembly production line for planetary gear transmission assembly, including a drive shaft processing and assembly equipment, a housing storage and handling equipment, and a planetary gear transmission assembly assembly equipment; The active shaft component processing and assembly equipment includes a blank shaft component storage mechanism, an industrial robot A, a lathe, and an active shaft component assembly mechanism. The blank shaft storage mechanism is used to store blank shafts to be processed; The industrial robot A is used to transport the blank shafts from the blank shaft storage mechanism to the machining station of the lathe. The lathe is used to integrally turn a blank shaft into a sun shaft, a planetary disk, and at least one planetary shaft located on the circumference of the planetary disk, thereby forming a drive shaft. The industrial robot A is used to transport the drive shaft component, which has been machined by a lathe, to the drive shaft component assembly mechanism; The drive shaft assembly mechanism includes a housing positioning and placement unit and a shaft fixture adjustment unit. The housing positioning and placement unit is used to position the housing with the pre-installed bearing in a vertical position, so that the through-shaft channel corresponds to the area below the gear mounting area. The shaft fixture adjustment unit is used to receive and hold the processed drive shaft and can drive the drive shaft to rotate and adjust to a positive mounting position with the sun axis facing down and the planetary axis facing up. The positive mounting position drive shaft and housing can be fed relative to each other in the vertical direction, so that the sun axis is inserted into the bearing inside the housing, while the planetary disk and planetary axis are located in the gear mounting area at the top of the housing, thereby completing the assembly of the drive shaft and housing. The planetary gear transmission assembly equipment includes a planetary gear feeding and storage mechanism, a sun gear and internal gear ring storage mechanism, an industrial robot B, and a planetary gear transmission assembly assembly mechanism. The planetary gear feeding and storage mechanism is used to store multiple planetary gears and can output the planetary gears one by one; The sun gear and internal gear ring storage mechanism is used to store multiple sun gears and internal gear rings; The planetary gear transmission assembly assembly mechanism includes a tooling table, a first rotary drive module, and a drive shaft adjustment module. The tooling table has multiple assembly positions on its circumference, and the bottom wall of each assembly position is provided with a shaft hole for the sun shaft to pass through. The housing pre-installed with the drive shaft is placed on the assembly position, and the lower end of the sun shaft of the drive shaft passes through the shaft hole and out of the tooling table. The first rotary drive module is used to drive the tooling table to rotate, thereby driving each assembly position to sequentially move to the loading and unloading station, the planetary gear assembly station, and the sun gear and internal gear ring assembly station. The active shaft adjustment module corresponds to the planetary gear assembly station. The active shaft adjustment module acts on the lower end of the sun shaft that passes through the tooling table and drives the active shaft to rotate and adjust its position so that each planetary shaft on the active shaft rotates circumferentially to the angle position to be assembled in sequence. The planetary gear feeding and storage mechanism is used to assemble the planetary gears one by one onto the planetary shaft at the angle position to be assembled. The outer shell after planetary gear assembly is transferred to the sun gear and internal gear ring assembly station along with the tooling table. The industrial robot B takes the sun gear and internal gear ring from the sun gear and internal gear ring storage mechanism and can assemble the sun gear and internal gear ring into the corresponding outer shell to form a planetary gear transmission assembly. The outer casing storage and handling equipment includes a warehouse and a transfer and handling unit; the warehouse is used to store pre-assembled bearing casings, casings assembled with drive shafts, and finished planetary gear transmission assemblies; the transfer and handling unit is used to transfer pre-assembled bearing casings in the warehouse to the casing positioning and placement unit of the drive shaft assembly mechanism, and to transfer casings with assembled drive shafts back to the warehouse, and to transfer casings with assembled drive shafts in the warehouse to the tooling assembly position of the planetary gear transmission assembly assembly mechanism, and to transfer the assembled planetary gear transmission assembly back to the warehouse for storage.

[0006] By adopting the above technical solution, a complete automated assembly production line is formed by integrating the active shaft processing and assembly equipment, the housing storage and handling equipment, and the planetary gear transmission assembly equipment. This enables automated storage and supply of raw shaft blanks. Industrial robot A completes the automated transfer of raw shaft blanks and active shaft blanks. A lathe performs integral turning on the raw shaft blanks to form an active shaft blank containing a sun shaft, planetary disks, and planetary shafts. The housing positioning and placement unit of the active shaft blank assembly mechanism achieves vertical positioning of the pre-assembled bearing housing. The shaft blank clamping and tilting adjustment unit achieves clamping and tilting adjustment of the active shaft blank, ensuring it is in a forward-facing position with the sun shaft facing down and the planetary shafts facing up. The active shaft blank and housing are fed vertically relative to each other, completing the insertion assembly of the sun shaft and bearing, thus achieving automated assembly of the active shaft blank and housing. Simultaneously, the planetary gear feeding and storage mechanism enables the storage and sequential output of planetary gears. The sun gear and internal gear ring are stored through a sun gear and internal gear ring storage mechanism. The pre-assembled drive shaft housing is rotated in multiple stations via the tooling table and first rotary drive module of the planetary gear transmission assembly mechanism. The planetary shaft adjustment module adjusts the circumferential angle of the planetary shafts to ensure precise planetary gear assembly. Industrial robot B automatically retrieves and assembles the sun gear and internal gear ring, forming a complete planetary gear transmission assembly. The housing storage and handling equipment centrally stores the housing, semi-finished products, and finished products. A transfer and handling unit automatically transfers and returns the housing between the warehouse, the drive shaft assembly mechanism, and the planetary gear transmission assembly mechanism. This achieves fully automated operation from drive shaft processing and housing assembly to planetary gear transmission assembly assembly, reducing manual intervention, improving assembly efficiency, accuracy, and product consistency, and ensuring stable and reliable production line operation.

[0007] A further feature of the present invention is that the shaft clamp adjustment unit includes a shaft clamp and a flip drive module; the shaft clamp is installed on the power output end of the flip drive module, and the shaft clamp is used to clamp the active shaft; the flip drive module is used to drive the shaft clamp to rotate the active shaft 180° around the horizontal axis, so that the inverted active shaft is flipped to the upright position. The housing positioning and placement unit includes a housing positioning platform, a first Y-axis sliding drive module, and a first Z-axis sliding drive module. The housing positioning platform has an assembly position for positioning the housing. The first Y-axis sliding drive module is used to drive the housing positioning platform to slide along the Y direction to below the shaft fixture. The first Z-axis sliding drive module is used to drive the housing positioning platform to slide along the Z direction, so as to lift the housing and insert the sun shaft into the bearing inside the housing.

[0008] With the above-mentioned further configuration, the active shaft is clamped by the shaft clamping unit of the shaft clamping adjustment unit, and the active shaft is rotated 180° around the horizontal axis by the shaft clamping unit of the flipping drive module. This can stably adjust the inverted active shaft to a positive mounting posture with the sun axis facing down and the planetary axis facing up, ensuring a uniform and accurate assembly posture. The housing is positioned by the housing positioning platform of the housing positioning and placement unit. The housing positioning platform is driven to slide along the Y direction to the bottom of the shaft clamp by the first Y-axis sliding drive module to achieve alignment. The housing positioning platform is then driven to slide along the Z direction and lift by the first Z-axis sliding drive module, so that the sun axis can be inserted into the bearing inside the housing. This achieves precise assembly of the active shaft and the housing, improving assembly coaxiality and assembly stability.

[0009] A further provision of the present invention: the active shaft assembly mechanism is equipped with a vision inspection mechanism A; the first Y-axis sliding drive module is used to drive the housing positioning stage along the Y direction to reciprocate between the detection area below the vision inspection mechanism A and the lower part of the shaft fixture; the vision inspection mechanism A is used to detect whether the housing is accurately placed on the housing positioning stage, and when the housing positioning stage carries the assembled housing to slide below the detection area of ​​the vision inspection mechanism A, the vision inspection mechanism A is used to detect the assembly integrity of the active shaft and the housing.

[0010] By further configuring the above-mentioned structure, a vision inspection mechanism A is arranged in the active shaft assembly mechanism, and the first Y-axis sliding drive module is used to drive the housing positioning stage to reciprocate between the detection area below the vision inspection mechanism A and the shaft fixture. This allows for automatic detection of whether the housing is accurately positioned when the housing positioning stage carries the housing, avoiding any impact on the assembly process due to abnormal housing placement. When the housing positioning stage carries the assembled housing to the detection area below the vision inspection mechanism A, it can automatically detect the assembly integrity of the active shaft and the housing, promptly identify assembly defects, improve the reliability of the assembly process and the product qualification rate, and achieve automated quality monitoring of the assembly process.

[0011] A further feature of the present invention is as follows: the industrial robot A includes a multi-axis robotic arm A and a second Y-axis sliding drive module; the end of the multi-axis robotic arm A is equipped with a dedicated gripper A, which is used to grip a blank shaft or a processed active shaft; the second Y-axis sliding drive module is used to drive the multi-axis robotic arm A to slide and transport workpieces along the Y direction; the industrial robot A is also equipped with a dedicated gripper quick-change unit A, which includes a quick-change platform A and at least two types of dedicated grippers A adapted to different workpieces stored on the quick-change platform A; the multi-axis robotic arm A can replace the dedicated grippers A on the quick-change platform A. The drive shaft assembly equipment also includes a milling machine, which is used to process the keyway on the sun shaft. The industrial robot A is used to transport the drive shaft that has been processed by the lathe to the milling machine to process the keyway, and then transport the drive shaft that has been processed with the keyway to the drive shaft assembly mechanism.

[0012] By further configuring the above-mentioned components, the multi-axis robotic arm A of the industrial robot A, the second Y-axis sliding drive module, and the dedicated gripper quick-change unit A work together to expand the operating range, achieve stable gripping and rapid switching of different workpieces, and improve the versatility and flexibility of the operation. By adding a milling machine, the keyway of the sun shaft can be automatically processed, ensuring the integrity of the active shaft component's machining structure. The industrial robot A can automatically complete the transfer of the blank shaft component and the active shaft component between the lathe, milling machine, and active shaft component assembly mechanism, achieving seamless connection of multiple processes such as turning, milling, and assembly, and improving the automation level of the production line and the processing and assembly efficiency.

[0013] A further provision of the present invention: the active shaft adjustment module includes a sun shaft clamp, a second Z-axis sliding drive module, and a rotation drive module; the second Z-axis sliding drive module is used to drive the sun shaft clamp to slide along the Z-direction below the aligned active shaft; the sun shaft clamp is used to clamp the lower end of the sun shaft of the active shaft; the rotation drive module is used to drive the sun shaft clamp to rotate the active shaft around the vertical axis to adjust the circumferential rotation angle of the planetary shaft; The planetary gear transmission assembly assembly mechanism is equipped with a vision inspection mechanism B, which corresponds to the planetary gear assembly station. The vision inspection mechanism B includes a vision inspection tool and a third Y-axis sliding drive module. The third Y-axis sliding drive module is used to drive the vision inspection tool to slide along the Y direction above the aligned housing. The vision inspection tool is used to detect the angular position of the planetary shaft and provide feedback signals to control the active shaft adjustment module to drive the active shaft to rotate in order to adjust the planetary shaft to the angular position to be assembled.

[0014] With the above-mentioned further configuration, the sun shaft clamp of the active shaft adjustment module, the second Z-axis sliding drive module, and the rotation drive module work together to clamp the lower end of the sun shaft from below the tooling table and drive the active shaft to rotate around the vertical axis, thereby achieving precise adjustment of the circumferential angle of the planetary shaft. Through the vision inspection mechanism B configured in the planetary gear transmission assembly assembly mechanism, the vision inspection tool works in conjunction with the third Y-axis sliding drive module to achieve automatic detection and avoidance of the planetary shaft angle position. The detection signal is fed back in real time to control the active shaft adjustment module for alignment, ensuring that the planetary gears are accurately pressed onto the planetary shaft, avoiding assembly misalignment and jamming, and improving the assembly accuracy, success rate, and efficiency of the planetary gears.

[0015] A further provision of the present invention: the planetary gear transmission assembly mechanism further includes a fixed platform, the tooling platform being rotatably disposed relative to the fixed platform; the fixed platform is provided with a first telescopic pushing member and a second telescopic pushing member corresponding to the planetary gear assembly station and the sun gear and internal gear ring assembly station, respectively, each telescopic pushing member being provided with a telescopic pushing body; the tooling platform is provided with a blocking part corresponding to the assembly position; when the outer shell moves with the tooling platform to the planetary gear assembly station and the sun gear and internal gear ring assembly station, the pushing bodies corresponding to the first telescopic pushing member and the second telescopic pushing member extend and press against the side wall of the outer shell, the pushing body and the blocking part cooperate to clamp and position the two side walls of the outer shell.

[0016] With the above-mentioned further configuration, a fixed platform and a rotatable tooling table are set in the planetary gear transmission assembly mechanism. A first telescopic pushing component and a second telescopic pushing component are respectively set in the planetary gear assembly position, the sun gear and the internal gear ring assembly position on the fixed platform. At the same time, a blocking part is set in the corresponding assembly position on the tooling table. When the outer shell moves to the corresponding assembly position with the tooling table, the pushing body of the pushing component extends and presses against the side wall of the outer shell. It cooperates with the blocking part to form a clamping and positioning on both sides of the outer shell. This can effectively prevent the outer shell from shaking, shifting, rotating or displacing during the assembly process, ensure the stable positioning of the outer shell, ensure the accurate assembly position of the gears, and improve the assembly stability, assembly accuracy and product quality consistency of the planetary gear transmission assembly.

[0017] A further embodiment of the present invention: the planetary gear feeding and storage mechanism includes a planetary gear storage unit and a planetary gear feeding unit; the planetary gear storage unit includes a loading platform, a storage cylinder, and a pusher; the storage cylinder is vertically arranged on the loading platform and can accommodate multiple planetary gears stacked together; the bottom of the storage cylinder has a through slot for a single planetary gear loaded inside to pass through; the loading platform has a waiting position at the outlet position corresponding to the through slot of the storage cylinder; the pusher is arranged on the loading platform and is used to push the planetary gear at the bottom of the storage cylinder... The planetary gears are pushed out one by one to the waiting position; the planetary gear feeding unit includes a planetary gear clamp, a first X-axis sliding drive module and a third Z-axis sliding drive module. The planetary gear clamp is used to clamp the planetary gears; the first X-axis sliding drive module is used to drive the planetary gear clamp to slide along the X direction to transfer the clamped planetary gears between the waiting position and the planetary gear assembly position; the third Z-axis sliding drive module is used to drive the planetary gear clamp to slide along the Z direction to press the planetary gears onto the corresponding planetary shaft of the housing on the planetary gear assembly position.

[0018] By further configuring the above-mentioned components, the planetary gear storage unit of the planetary gear feeding and storage mechanism utilizes a loading platform, vertical storage cylinder, pusher, and waiting position to achieve batch stacking and orderly single unloading of planetary gears, avoiding jamming and overlapping, and ensuring stable and continuous feeding. Through the planetary gear clamps, the first X-axis sliding drive module, and the third Z-axis sliding drive module of the planetary gear feeding unit, the automatic picking, horizontal transfer, and vertical pressing of planetary gears are achieved, automating the entire process of planetary gear feeding, transfer, and pressing. The feeding rhythm matches the assembly rhythm, improving the smoothness of planetary gear assembly, assembly accuracy, and production line operating efficiency.

[0019] A further feature of the present invention is that the blank shaft storage mechanism includes a blank shaft material tray and a second rotary drive module. The blank shaft material tray has multiple blank shaft placement positions in the circumferential direction. The blank shaft is placed upside down in a vertical position on the blank shaft placement position. The second rotary drive module is used to drive the blank shaft material tray to rotate. The sun gear and internal gear ring storage mechanism includes a storage tray and a third rotary drive module. The storage tray has multiple sun gear mounting positions and internal gear ring mounting positions on its circumference. The third rotary drive module is used to drive the storage tray to rotate.

[0020] By further configuring the above-mentioned components, the blank shaft storage mechanism's blank shaft material tray works in conjunction with the second rotary drive module to achieve batch and orderly storage and automatic indexing of blank shafts, facilitating stable and accurate gripping by industrial robot A and ensuring continuous and efficient feeding of blank shafts. Furthermore, the sun gear and internal gear ring storage mechanism's storage tray works in conjunction with the third rotary drive module to achieve classified storage and automatic material changing and alignment of the sun gear and internal gear ring, facilitating rapid and accurate gripping by industrial robot B, avoiding material mixing and incorrect picking, and improving overall feeding efficiency, feeding accuracy, and the degree of automation of the production line.

[0021] A further embodiment of the present invention includes: the industrial robot B comprising a multi-axis robotic arm B and a second X-axis sliding drive module; the end of the multi-axis robotic arm B is equipped with a dedicated gripper B, which is used to grip a sun gear or an internal gear ring; the second X-axis sliding drive module is used to drive the multi-axis robotic arm B to slide and transport workpieces along the X direction; a six-dimensional force sensor is provided on the multi-axis robotic arm B, which is used to collect the torque of the workpiece held by the dedicated gripper B during assembly and to feed back the torque value to adjust the angle of the multi-axis robotic arm B; Industrial robot B is also equipped with a dedicated gripper quick-change unit B, which includes a quick-change platform B and at least two types of dedicated grippers B adapted to different workpieces stored on the quick-change platform B. The multi-axis robotic arm B can replace the dedicated grippers B on the quick-change platform B.

[0022] By further configuring the above-mentioned components, the multi-axis robotic arm B of the industrial robot B, in conjunction with the second X-axis sliding drive module, expands the working range to meet the long-distance handling and assembly needs of the sun gear and internal gear ring. A dedicated gripper quick-change unit B enables rapid gripper switching, adapting to stable gripping of different workpieces and improving operational flexibility and versatility. A six-dimensional force sensor on the multi-axis robotic arm B collects force data on the workpiece held by the dedicated gripper B during assembly. Feedback torque signals are used to adjust the angle of the multi-axis robotic arm B, real-time correcting the workpiece's alignment and assembly posture. This avoids hard compression, gear and housing wear, or compression damage caused by assembly deviations, improving assembly alignment accuracy and adapting to automated assembly operations under complex conditions.

[0023] A further feature of the present invention is as follows: the warehouse includes a shelf and two outer shell loading / unloading platforms A and B, which are respectively located on both sides of the shelf in the X direction; the shelf has multiple storage layers along the Z direction, and each storage layer has multiple forklift slots spaced apart along the X direction. The outer shell loading / unloading platforms A and B are also provided with forklift slots, and the fork arms on both sides of each forklift slot provide support for the workpiece pallet, which is used to support and place the outer shell. The transfer and handling unit includes an inbound and outbound handling mechanism, an AGV unit, housing loading and unloading mechanisms A and B corresponding to loading and unloading platforms A and B respectively, and housing loading and unloading mechanism C corresponding to the active shaft assembly mechanism. The inbound and outbound handling mechanism includes a pallet handling platform, a third X-axis sliding drive module, a fourth Y-axis sliding drive module, and a fourth Z-axis sliding drive module. The pallet handling platform is used to pick up workpiece pallets from the forklift mounting area. The third X-axis sliding drive module, the fourth Y-axis sliding drive module, and the fourth Z-axis sliding drive module work together to drive the pallet handling platform to move in the X, Y, and Z directions, thereby enabling the corresponding workpiece pallets to be transferred between the rack and the loading / unloading platforms A and B. Each shell loading and unloading mechanism is equipped with a shell clamp, a fourth X-axis sliding drive module, and a fifth Z-axis sliding drive module. The shell clamp is used to clamp the shell, and the fourth X-axis sliding drive module and the fifth Z-axis sliding drive module are used to drive the shell clamp to move along the X and Z directions, respectively. The AGV unit is located between the outer shell loading and unloading mechanism A and the outer shell loading and unloading mechanism C. The AGV unit includes two AGV trolleys that can move along the X and Y directions, and the AGV trolleys are equipped with an outer shell carrying platform. The outer casing loading / unloading mechanism A, the AGV unit, and the outer casing loading / unloading mechanism C cooperate to transfer the pre-installed bearing outer casing from the workpiece tray of the outer casing loading / unloading platform A to the outer casing positioning and placement unit of the drive shaft assembly mechanism, and can return the outer casing with the drive shaft assembly to the workpiece tray of the outer casing loading / unloading platform A; the outer casing loading / unloading mechanism B sends the outer casing with the drive shaft assembly from the workpiece tray of the outer casing loading / unloading platform B to the tooling table of the planetary gear transmission assembly mechanism, and can return the assembled planetary gear transmission assembly to the workpiece tray of the outer casing loading / unloading platform B.

[0024] With the above-mentioned further configuration, the warehouse is equipped with multi-layer shelves and shell loading / unloading platforms A and B. The fork arms on both sides of the forklift handle provide stable support for the workpiece pallets, enabling large-capacity three-dimensional storage of shells, semi-finished products, and finished products. The pallet handling platform of the inbound / outbound handling mechanism, in conjunction with the third X-axis, fourth Y-axis, and fourth Z-axis sliding drive modules, achieves fully automated three-dimensional transfer of workpiece pallets between the shelves and loading / unloading platforms A and B. The shell clamps of the shell loading / unloading mechanisms A, B, and C, in conjunction with the fourth X-axis sliding drive module and the fifth Z-axis sliding drive module, achieve automatic clamping, lifting, and X-axis translation of the shells. The AGV unit and the shell carrying platform enable the automatic transfer of shells between loading and unloading mechanisms A and C, thereby enabling the transfer of pre-assembled bearing shells and semi-finished shells with assembled drive shafts between the storage and drive shaft assembly mechanisms. The loading and unloading mechanism B enables the transfer of shells with assembled drive shafts and planetary gear transmission assemblies between the storage and planetary gear transmission assembly mechanisms, and finally completes the finished storage of the planetary gear transmission assembly. The connection between each link is smooth, realizing the fully automated transfer of materials between the storage and assembly stations, greatly reducing manual transfer operations, improving the overall automation level and operating efficiency of the production line, and adapting to the needs of large-scale continuous production. Attached Figure Description

[0025] Figure 1 This is a structural diagram of a specific embodiment of the present invention; Figure 2 This is a structural diagram of the drive shaft component processing and assembly equipment according to a specific embodiment of the present invention; Figure 3 This is a structural diagram of the blank shaft storage mechanism, industrial robot A, and active shaft assembly mechanism according to a specific embodiment of the present invention; Figure 4 This is a structural diagram of a blank shaft storage mechanism according to a specific embodiment of the present invention; Figure 5 This is a structural diagram of industrial robot A according to a specific embodiment of the present invention; Figure 6 This is a structural diagram of the drive shaft assembly mechanism and vision inspection mechanism A according to a specific embodiment of the present invention; Figure 7This is a structural diagram of the outer shell positioning and placement unit according to a specific embodiment of the present invention; Figure 8 This is a structural diagram of the planetary gear transmission assembly equipment according to a specific embodiment of the present invention; Figure 9 This is a structural diagram of a planetary gear feeding and storage mechanism according to a specific embodiment of the present invention; Figure 10 This is a structural diagram of a planetary gear storage unit according to a specific embodiment of the present invention; Figure 11 This is a structural diagram of the pusher component according to a specific embodiment of the present invention; Figure 12 This is a structural diagram of the planetary gear transmission assembly assembly according to a specific embodiment of the present invention; Figure 13 This is a structural diagram of the tooling table according to a specific embodiment of the present invention; Figure 14 This is a structural diagram of the drive shaft adjustment module according to a specific embodiment of the present invention; Figure 15 This is a structural diagram of the sun gear and internal gear ring storage mechanism according to a specific embodiment of the present invention; Figure 16 This is a structural diagram of industrial robot B according to a specific embodiment of the present invention; Figure 17 This is a structural diagram of the outer shell storage and handling equipment according to a specific embodiment of the present invention; Figure 18 This is a structural diagram of the shell loading / unloading mechanism A, the AGV unit, and the shell loading / unloading mechanism C according to a specific embodiment of the present invention; Figure 19 This is a structural diagram of the warehouse, inbound / outbound handling mechanism, and outer casing loading / unloading mechanism B, according to a specific embodiment of the present invention. Figure 20 This is a warehouse structure diagram according to a specific embodiment of the present invention; Figure 21 This is a structural diagram of the inbound / outbound handling mechanism and the outer casing loading / unloading mechanism B, according to a specific embodiment of the present invention. Figure 22 This is a structural diagram of a planetary gear transmission assembly according to a specific embodiment of the present invention; Figure 23 This is a structural diagram of the drive shaft component according to a specific embodiment of the present invention.

[0026] In the diagram: Raw shaft 01, drive shaft 104, sun shaft 101, keyway 1011, planetary disk 102, planetary shaft 103, bearing 201, housing 202, through-shaft channel 203, gear mounting area 204, planetary gear 301, sun gear 302, internal gear ring 303; drive shaft processing and assembly equipment 100, raw shaft storage mechanism 110, raw shaft material tray 111, second rotary drive module 112, raw shaft placement position 113, tooling... Industrial robot A120, multi-axis robotic arm A121, second Y-axis sliding drive module 122, special gripper A123, lathe 130, active shaft assembly mechanism 140, vision inspection mechanism A150, milling machine 160, special gripper quick-change unit A170, quick-change platform A1701; shell positioning and placement unit 141, shaft fixture adjustment unit 142, shaft fixture 1421, flip drive module 1422, shell positioning stage 1411, first Y-axis sliding drive module 1412, first Z-axis sliding drive module 1413, assembly position 1414, outer shell storage and handling equipment 200, warehouse 210, transfer and handling unit 220, shelf 211, storage layer 2111, outer shell loading and unloading platform A 212, outer shell loading and unloading platform B 213, forklift holder 214, fork arm 2141, workpiece pallet 215, sensor 217, RFID identification module 218, inbound and outbound handling mechanism 221. AGV unit 222, shell loading / unloading mechanism A223, shell loading / unloading mechanism B224, shell loading / unloading mechanism C225, pallet transport table 2211, third X-axis sliding drive module 2212, fourth Y-axis sliding drive module 2213, fourth Z-axis sliding drive module 2214, shell clamp 226, fourth X-axis sliding drive module 227, fifth Z-axis sliding drive module 228, AGV trolley 2221, shell bearing platform 2222;Planetary gear transmission assembly assembly equipment 300, planetary gear feeding and storage mechanism 310, sun gear and internal gear ring storage mechanism 320, industrial robot B330, planetary gear transmission assembly assembly mechanism 340, tooling table 341, first rotary drive module 342, drive shaft adjustment module 343, assembly position 3411, shaft hole 3412, blocking part 344, sun shaft clamp 3431, second Z-axis sliding drive module 3432, rotation drive module 3433, vision inspection mechanism B350, vision inspection tool 351, third Y-axis sliding drive module 352, fixed table 360, first telescopic jacking component 361, second telescopic jacking component 362, jacking Body 363, planetary gear storage unit 311, planetary gear feeding unit 312, loading platform 3111, storage cylinder 3112, pusher 3113, telescopic cylinder 31131, push rod 31132, through slot 3114, waiting position 3115, planetary gear clamp 3121, first X-axis sliding drive module 3122, third Z-axis sliding drive module 3123, storage tray 321, third rotary drive module 322, sun gear mounting position 323, internal gear ring mounting position 324, multi-axis robotic arm B331, second X-axis sliding drive module 332, dedicated gripper B333, six-dimensional force sensor 334, dedicated gripper quick-change unit B335, quick-change platform B3351. Detailed Implementation

[0027] The technical solutions in this embodiment will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1-23 As shown, an automated assembly production line for planetary gear transmission assembly of the present invention includes a drive shaft processing and assembly equipment 100, a housing storage and handling equipment 200, and a planetary gear transmission assembly assembly equipment 300. Each piece of equipment is fixedly installed by a frame to form an automated processing and assembly production line. The active shaft component processing and assembly equipment 100 includes a blank shaft component storage mechanism 110, an industrial robot A120, a lathe 130, an active shaft component assembly mechanism 140, and a vision inspection mechanism A150. Specifically, the blank shaft storage mechanism 110 is used to store blank shafts 01 to be processed. The blank shaft storage mechanism 110 includes a blank shaft tray 111 and a second rotary drive module 112. The blank shaft tray 111 is disc-shaped and has multiple blank shaft placement positions 113 on its circumference. The blank shaft placement positions can be positioning grooves or positioning bosses for limiting the blank shafts. The blank shafts 01 are placed vertically upside down on the blank shaft placement positions 113. The second rotary drive module 112 can be a servo motor with a reducer or a divider with a rotary motor. The rotary motor drives the divider to drive the blank shaft tray to perform intermittent indexing rotation, thereby driving the blank shaft tray 111 to rotate uniformly around the vertical central axis, so that the blank shafts are sequentially rotated to the loading position. The industrial robot A120 is used to transport the blank shaft 01 from the blank shaft storage mechanism 110 to the machining station of the lathe 130. Specifically, the industrial robot A120 includes a multi-axis robotic arm A121 and a second Y-axis sliding drive module 122. The end of the multi-axis robotic arm A121 is equipped with a special gripper A123, which is used to grip the blank shaft 01 or the machined active shaft 104. The second Y-axis sliding drive module 122 is used to drive the multi-axis robotic arm A121 to slide and transport the workpiece along the Y direction. The second Y-axis sliding drive module can be a Y-axis linear slide module in conjunction with a Y-axis servo motor. The Y-axis linear slide module includes a Y-axis linear guide and a Y-axis servo slide. The Y-axis linear guide is fixed on the frame and extends along the Y direction. The Y-axis servo slide is slidably mounted on the Y-axis linear guide. The output end of the Y-axis servo motor... The multi-axis robotic arm is connected to the Y-axis servo slide via a lead screw drive pair, driving the Y-axis servo slide to reciprocate along the Y-axis linear guide rail. The multi-axis robotic arm can be a six-axis robotic arm, fixedly installed on the top of the Y-axis servo slide, and moves synchronously along the Y-axis with the slide. Alternatively, the multi-axis robotic arm can be directly driven to slide along the Y-axis by a linear electric cylinder, pneumatic cylinder, or hydraulic cylinder. The industrial robot A120 is also equipped with a dedicated gripper quick-change unit A170, which includes a quick-change platform A1701 and at least two types of dedicated grippers A123 adapted to different workpieces stored on the quick-change platform A1701. The dedicated grippers can be pneumatic finger grippers, three-jaw chuck grippers, or parallel gripper grippers, and can be selected according to the external dimensions of the blank shaft and the active shaft to ensure gripping stability. The multi-axis robotic arm A121 can replace the dedicated grippers A123 on the quick-change platform A1701. The drive shaft processing and assembly equipment 100 also includes a milling machine 160, which is used to process the keyway 1011 on the sun shaft 101. The industrial robot A120 is used to transport the drive shaft 104 processed by the lathe 130 to the milling machine 160 to process the keyway, and then transport the drive shaft 104 with the keyway processed to the drive shaft assembly mechanism 140.

[0029] Specifically, the lathe 130 is a CNC lathe with an automatic clamping chuck. The machining station corresponds to the transport path of the industrial robot. The lathe's turning tools can perform integrated turning on the blank shaft according to a preset program, directly forming the sun shaft 101, planetary disk 102, and at least one planetary shaft 103 (three or more planetary shafts) on a single blank shaft 01, thereby forming an integrated turning drive shaft 104 without subsequent splicing, ensuring the overall structural strength and accuracy of the workpiece. Specifically, the industrial robot A120 is used to transport the drive shaft 104, which has been machined by the lathe 130, to the drive shaft assembly mechanism 140; Specifically, the drive shaft assembly mechanism 140 includes a housing positioning and placement unit 141 and a shaft clamp adjustment unit 142. The housing positioning and placement unit 141 is used to position the housing 202 with the pre-installed bearing 201 in a vertical position, so that the shaft passage 203 corresponds to the lower part of the gear mounting area 204. The shaft clamp adjustment unit 142 is used to receive and clamp the processed drive shaft 104, and can drive the drive shaft 104 to rotate and adjust to a positive mounting position with the sun shaft 101 facing down and the planetary shaft 103 facing up. The positive mounting position of the drive shaft 104 and the housing 202 can be fed relative to each other in the vertical direction, so that the sun shaft 101 is inserted into the inner side of the bearing 201 in the housing 202, while the planetary disk 102 and the planetary shaft 103 are located in the gear mounting area 204 at the upper part of the housing 202, thereby completing the assembly of the drive shaft 104 and the housing 202. The outer shell positioning and placement unit 141 includes an outer shell positioning platform 1411, a first Y-axis sliding drive module 1412, and a first Z-axis sliding drive module 1413. The outer shell positioning platform 1411 has an assembly position 1414 for positioning the outer shell 202. The assembly position is a positioning groove that matches the bottom shape of the outer shell, achieving precise positioning of the outer shell and keeping it in a vertical position. The through-shaft channel for the pre-installed bearing inside the outer shell is coaxially aligned with the upper gear mounting area, corresponding to the assembly path of the drive shaft. The first Y-axis sliding drive module 1412 drives the outer shell positioning platform 1411 to slide along the Y direction below the shaft clamp 1421. The first Y-axis sliding drive module and the second Y-axis sliding drive module... The shift drive modules have the same structure, all consisting of a Y-axis linear guide, a Y-axis servo slide, a Y-axis servo motor, and a lead screw transmission pair; the first Z-axis sliding drive module 1413 consists of a Z-axis linear guide, a Z-axis servo slide, a Z-axis servo motor, and a lead screw transmission pair. The Z-axis linear guide is vertically fixed on the Y-axis servo slide of the first Y-axis sliding drive module, and the housing positioning platform is horizontally fixed on the top of the Z-axis servo slide. Alternatively, the first Z-axis sliding drive module can be a linear electric cylinder, pneumatic cylinder, or hydraulic cylinder, with the housing positioning platform located at its output end. It can directly drive the housing positioning platform 1411 to slide along the Z-axis, thereby raising the housing 202 so that the sun axis 101 is inserted into the inner side of the bearing 201 inside the housing 202. The shaft clamp adjustment unit 142 includes a shaft clamp 1421 and a flip drive module 1422. The shaft clamp 1421 is installed on the power output end of the flip drive module 1422. The shaft clamp 1421 is used to clamp the active shaft 104. The shaft clamp can adopt a pneumatic claw clamp structure to clamp and fix the planetary disk part of the active shaft. The flip drive module is specifically composed of a flip servo motor and a horizontal rotating shaft. The flip servo motor is fixedly installed on the frame of the active shaft assembly mechanism. One end of the horizontal rotating shaft is connected to the output end of the flip servo motor, and the other end is fixedly connected to the shaft clamp. The flip servo motor drives the horizontal rotating shaft to rotate, which can drive the shaft clamp and the active shaft to rotate precisely 180° around the horizontal axis, so that the inverted active shaft 104 is flipped to the upright position. Specifically, the active shaft assembly mechanism 140 is equipped with a vision inspection mechanism A150; the first Y-axis sliding drive module 1412 is used to drive the housing positioning stage 1411 along the Y direction to reciprocate between the detection area of ​​the vision inspection mechanism A150 and the shaft clamp 1421; the vision inspection mechanism includes an industrial camera and a light source, the industrial camera and the light source are vertically mounted above the moving path of the housing positioning stage by a bracket, the industrial camera lens faces the housing positioning stage surface, and the light source is a ring light source, set around the industrial camera lens to provide uniform illumination for inspection, the industrial camera is electrically connected to the equipment's main control system to realize the transmission and processing of detection signals, the vision inspection mechanism A150 is used to detect whether the housing 202 is accurately placed on the housing positioning stage 1411, when the housing positioning stage 1411 carrying the assembled housing 202 slides to the detection area of ​​the vision inspection mechanism A150, the vision inspection mechanism A150 is used to detect the assembly integrity of the active shaft 104 and the housing 202.

[0030] Specifically, the planetary gear transmission assembly assembly equipment 300 includes a planetary gear feeding and storage mechanism 310, a sun gear and internal gear ring storage mechanism 320, an industrial robot B330, and a planetary gear transmission assembly assembly mechanism 340. Specifically, the planetary gear feeding and storage mechanism 310 is used to store multiple planetary gears 301 and can output the planetary gears 301 one by one; the planetary gear feeding and storage mechanism 310 includes a planetary gear storage unit 311 and a planetary gear feeding unit 312; the planetary gear storage unit 311 includes a loading platform 3111, a storage cylinder 3112 and a pusher 3113, the storage cylinder 3112 is vertically arranged on the loading platform 3111, and can store multiple planetary gears 301 stacked together; the bottom of the storage cylinder 3112 has The storage cylinder 3112 has a through slot 3114 for the individual planetary gears 301 inside to pass through. A waiting position 3115 is provided on the loading platform 3111 at the outlet position corresponding to the through slot 3114 of the storage cylinder 3112. A pusher 3113 is disposed on the loading platform 3111 and is used to push the planetary gears 301 at the bottom of the storage cylinder 3112 one by one to the waiting positions 3115. Specifically, the pusher 3113 includes a telescopic cylinder 31131 and a push rod 31132. The telescopic cylinder can be a pneumatic pusher, an electric pusher, or a hydraulic pusher. The push rod is connected to the telescopic end of the telescopic cylinder. The push rod and the loading platform are in sliding fit. The telescopic cylinder drives the push rod to slide horizontally. Through the structural installation design, when the telescopic cylinder drives the push rod to retract, the push rod pushes the planetary gear at the bottom of the storage cylinder to the waiting position. After the telescopic cylinder drives the push rod to extend, the push rod leaves the through groove range, and the next planetary gear falls to the bottom of the storage cylinder by gravity, waiting for the next feeding operation. The planetary gear feeding unit 312 includes a planetary gear clamp 3121, a first X-axis sliding drive module 3122, and a third Z-axis sliding drive module 3122. The X-axis sliding drive module 3123 includes a planetary gear clamp 3121 for clamping planetary gears 301; a first X-axis sliding drive module 3122 for driving the planetary gear clamp 3121 to slide along the X direction to transfer the clamped planetary gears 301 between the waiting position 3115 and the planetary gear assembly station; and a third Z-axis sliding drive module 3123 for driving the planetary gear clamp 3121 to slide along the Z direction to press the planetary gears 301 onto the corresponding planetary shafts 103 of the housing 202 on the planetary gear assembly station. Specifically, the first X-axis sliding drive module can be an X-axis linear slide module in conjunction with an X-axis servo motor. The X-axis linear slide module includes an X-axis linear guide rail and an X-axis servo slide. The X-axis linear guide rail is fixed on the frame and extends along the X-axis. The X-axis servo slide is slidably mounted on the X-axis linear guide rail. The output end of the X-axis servo motor is connected to the X-axis servo slide via a lead screw drive pair, driving the X-axis servo slide to reciprocate along the X-axis linear guide rail. The third Z-axis sliding drive module has the same structure as the first Z-axis sliding drive module.

[0031] Specifically, the sun gear and internal gear ring storage mechanism 320 is used to store multiple sun gears 302 and internal gear rings 303. The sun gear and internal gear ring storage mechanism 320 includes a storage tray 321 and a third rotary drive module 322. The storage tray 321 has multiple sun gear mounting positions 323 and internal gear ring mounting positions 324 arranged circumferentially. The multiple sun gear mounting positions are evenly spaced circumferentially, and the multiple internal gear ring mounting positions are also evenly spaced circumferentially. The sun gear mounting position is a positioning groove that matches the bottom shape of the sun gear to achieve precise positioning of the sun gear. The internal gear ring mounting position is a positioning groove that matches the bottom shape of the internal gear ring to achieve precise positioning of the internal gear ring. The third rotary drive module 322 is used to drive the storage tray 321 to rotate. The third rotary drive module has the same structure as the second rotary drive module. When the storage tray rotates, it rotates the corresponding sun gear or internal gear ring to be grasped into the grasping operation range of the industrial robot, which facilitates the robot to pick up the material at a fixed point.

[0032] Specifically, the planetary gear transmission assembly assembly mechanism 340 includes a tooling table 341, a first rotary drive module 342, and a drive shaft adjustment module 343. The tooling table 341 has multiple assembly positions 3411 on its circumference. Each assembly position is a positioning groove that matches the bottom shape of the housing to achieve precise positioning of the housing. The bottom wall of each assembly position 3411 is provided with a shaft hole 3412 through which the sun shaft 101 can pass. The housing 202 pre-installed with the drive shaft 104 is placed on the assembly position 3411, and the lower end of the sun shaft 101 of the drive shaft 104 passes through the shaft hole 3412 and exits the tooling table 341. The first rotary drive module 342 is used to drive the tooling table 341 to rotate, thereby driving each assembly position 3411 to sequentially flow to the loading and unloading station, the planetary gear assembly station, and the sun gear and internal gear ring assembly station. The first rotary drive module adopts the same structure as the second rotary drive module. The active shaft adjustment module 343 corresponds to the planetary gear assembly station. The active shaft adjustment module 343 acts on the lower end of the sun shaft 101 that passes through the tooling table 341 and drives the active shaft 104 to rotate and adjust its position, so that each planetary shaft 103 on the active shaft 104 rotates circumferentially to the angle position to be assembled. The planetary gear feeding and storage mechanism 310 is used to assemble the planetary gears 301 one by one onto the planetary shafts 103 at the angle position to be assembled. Specifically, the active shaft adjustment module 343 includes a sun shaft clamp 3431 and a second Z-axis sliding drive module. The system comprises a group 3432 and a rotation drive module 3433; the second Z-axis sliding drive module 3432 is used to drive the sun axis clamp 3431 to slide along the Z-direction below the aligned active shaft 104, and the second Z-axis sliding drive module has the same structure as the aforementioned Z-axis sliding drive module; the sun axis clamp 3431 is used to clamp the lower end of the sun axis 101 of the active shaft 104; the rotation drive module 3433 can be a rotary motor, used to drive the sun axis clamp 3431 to drive the active shaft 104 to rotate around the vertical axis, so as to adjust the circumferential rotation angle of the planetary axis 103. Of course, the lower end of the sun axis can be rotated by a suction cup or magnetic attraction without the clamp.

[0033] Specifically, the planetary gear transmission assembly assembly mechanism 340 further includes a fixed platform 360, and the tooling table 341 is rotatably disposed relative to the fixed platform 360; the fixed platform 360 is provided with a first telescopic pushing member 361 and a second telescopic pushing member 362 corresponding to the planetary gear assembly position and the sun gear and internal gear ring assembly position, respectively. Each telescopic pushing member is a linear electric cylinder, pneumatic cylinder or hydraulic cylinder, and the telescopic pushing member is provided with a telescopic pushing body 363; the tooling table 341 is provided with a blocking part 344 corresponding to the assembly position 3411, and the blocking part is integral or detachable. Installed on the tooling table; when the outer shell 202 moves with the tooling table 341 to the planetary gear assembly station, the sun gear and internal gear ring assembly station, the pusher body 363 corresponding to the first telescopic pusher member 361 and the second telescopic pusher member 362 extends out and presses against the side wall of the outer shell 202. The pusher body 363 cooperates with the blocking part 344 to clamp and position the two side walls of the outer shell 202. Of course, the blocking part can be omitted, and the telescopic pusher members arranged symmetrically on both sides can extend synchronously to clamp and position the outer shell from both sides; or the telescopic pusher members can cooperate with the groove wall of the assembly position to clamp and position the outer shell. Specifically, the planetary gear transmission assembly assembly mechanism 340 is equipped with a vision inspection mechanism B350, which corresponds to the planetary gear assembly station. The vision inspection mechanism B350 includes a vision inspection tool 351 and a third Y-axis sliding drive module 352. The third Y-axis sliding drive module 352 is used to drive the vision inspection tool 351 to slide along the Y direction above the aligned housing 202. The third Y-axis sliding drive module has the same structure as the aforementioned Y-axis sliding drive module. The vision inspection tool 351 includes an industrial camera and a light source. The industrial camera and the light source are vertically mounted on the Y-axis servo slide via a bracket. The industrial camera lens faces the worktable surface, and the light source is a ring light source, arranged around the industrial camera lens to provide uniform illumination for inspection. The industrial camera is electrically connected to the equipment's overall control system to realize the transmission and processing of detection signals. It is used to detect the angular position of the planetary shaft 103 and to provide feedback signals to control the active shaft adjustment module 343 to drive the active shaft 104 to rotate in order to adjust the planetary shaft 103 to the angular position to be assembled.

[0034] Specifically, the outer shell 202 after the planetary gear 301 assembly is completed is transferred to the sun gear and internal gear ring assembly station via the tooling table 341. The industrial robot B330 takes the sun gear 302 and internal gear ring 303 from the sun gear and internal gear ring storage mechanism 320 and can assemble the sun gear 302 and internal gear ring 303 into the corresponding outer shell 202 to form a planetary gear transmission assembly. Specifically, the industrial robot B330 includes a multi-axis robotic arm B331 and a second X-axis sliding drive module 332. The multi-axis robotic arm can be a six-axis robotic arm. The end of the multi-axis robotic arm B331 is equipped with a dedicated gripper B333, which is used to grip the sun gear 302 or the internal gear ring 303. The second X-axis sliding drive module 332 is used to drive the multi-axis robotic arm B331 to slide and transport workpieces along the X-axis. The second X-axis sliding drive module has the same structure as the aforementioned X-axis sliding drive module. A six-dimensional force sensor 334 is provided on the multi-axis robotic arm B331, which is used to collect data from the dedicated gripper. The torque applied to the workpiece held by the gripper B333 during assembly is fed back to adjust the angle of the multi-axis robotic arm B331. The industrial robot B330 is also equipped with a dedicated gripper quick-change unit B335, which includes a quick-change platform B3351 and at least two types of dedicated grippers B333 adapted to different workpieces stored on the quick-change platform B3351. The multi-axis robotic arm B331 can replace the dedicated grippers B333 on the quick-change platform B3351. The dedicated grippers can be pneumatic finger grippers, three-jaw chuck grippers, or parallel gripper grippers, and can be selected according to the external dimensions of the blank shaft and the active shaft to ensure gripping stability.

[0035] Specifically, the outer casing storage and handling equipment 200 includes a warehouse 210 and a transfer and handling unit 220; the warehouse 210 is used to store the outer casing 202 pre-installed with bearings 201, the outer casing 202 assembled with drive shaft 104, and the finished planetary gear transmission assembly; the transfer and handling unit 220 is used to transfer the outer casing 202 pre-installed with bearings 201 in the warehouse 210 to the outer casing positioning and placement unit 141 of the drive shaft assembly mechanism 140, and can transfer the outer casing 202 assembled with drive shaft 104 back to the warehouse 210, and can transfer the outer casing 202 assembled with drive shaft 104 in the warehouse 210 to the tooling table 341 assembly position 3411 of the planetary gear transmission assembly assembly mechanism 340, and can transfer the assembled planetary gear transmission assembly back to the warehouse 210 for storage.

[0036] The warehouse 210 includes a shelf 211 and shell loading / unloading platforms A212 and B213 located on both sides of the shelf 211 in the X direction. The shelf 211 has multiple storage layers 2111 along the Z direction, and each storage layer 2111 has multiple forklift slots 214 spaced apart along the X direction. The shell loading / unloading platforms A212 and B213 also have forklift slots 214. The fork arms 2141 on both sides of each forklift slot 214 support the workpiece pallet 215, which is used to support the shell 202. Sensors 217 are installed on the upper surface of each storage layer behind each forklift slot. The sensors are used to sense whether a workpiece pallet and shell are placed at the forklift slot in front. The sensors are electrically connected to the main control system to provide real-time feedback on the status information of the stored materials. The shell loading / unloading platforms A and B are each equipped with an RFID identification module 218 below the corresponding forklift slot. The RFID identification module is used to identify the workpiece pallet and write data. The transfer and handling unit 220 includes an inbound and outbound handling mechanism 221, an AGV unit 222, an outer shell loading and unloading mechanism A223 and an outer shell loading and unloading mechanism B224 corresponding to loading and unloading platforms A212 and B213 respectively, and an outer shell loading and unloading mechanism C225 corresponding to the drive shaft assembly mechanism 140. The inbound / outbound handling mechanism 221 includes a pallet handling platform 2211, a third X-axis sliding drive module 2212, a fourth Y-axis sliding drive module 2213, and a fourth Z-axis sliding drive module 2214. Each sliding drive module has the same structure as described above. The pallet handling platform 2211 is used to pick up workpiece pallets 215 from the forklift mounting port 214. The third X-axis sliding drive module 2212, the fourth Y-axis sliding drive module 2213, and the fourth Z-axis sliding drive module 2214 cooperate to drive the pallet handling platform 2211 to move in the X, Y, and Z directions, thereby realizing the transfer of the corresponding workpiece pallets 215 between the rack 211 and the loading / unloading platform A212 and loading / unloading platform B213. Each shell loading and unloading mechanism is equipped with a shell clamp 226, a fourth X-axis sliding drive module 227, and a fifth Z-axis sliding drive module 228. The shell clamp 226 is used to clamp the shell 202, and the fourth X-axis sliding drive module 227 and the fifth Z-axis sliding drive module 228 are used to drive the shell clamp 226 to move along the X and Z directions. Each sliding drive module has the same structure as described above. The AGV unit 222 is located between the outer shell loading / unloading mechanism A223 and the outer shell loading / unloading mechanism C225. The AGV unit 222 includes two AGV trolleys 2221 that can move along the X and Y directions. The AGV trolleys can move freely in multiple directions. The AGV trolleys 2221 are equipped with an outer shell carrying platform 2222 for supporting and placing the outer shell. The two AGV trolleys can realize the alternating loading / unloading and cyclic transfer of the outer shell between the warehouse and the active shaft assembly mechanism. Alternating loading / unloading is the conventional design. Of course, only one AGV trolley can be set up for loading / unloading. The outer casing loading / unloading mechanism A223, AGV unit 222, and outer casing loading / unloading mechanism C225 cooperate to transfer the outer casing 202 of the pre-installed bearing 201 on the workpiece tray 215 of the outer casing loading / unloading platform A212 to the outer casing positioning and placement unit 141 of the drive shaft assembly mechanism 140, and can return the outer casing 202 equipped with the drive shaft 104 to the workpiece tray 215 of the outer casing loading / unloading platform A212; the outer casing loading / unloading mechanism B224 sends the outer casing 202 equipped with the drive shaft 104 on the workpiece tray 215 of the outer casing loading / unloading platform B213 to the tooling table 341 of the planetary gear transmission assembly assembly mechanism 340, and can return the assembled planetary gear transmission assembly to the workpiece tray 215 of the outer casing loading / unloading platform B213.

[0037] The above-mentioned clamps are pneumatic or electric grippers, which can adjust the clamping opening according to the size of the workpiece to be clamped, stably grip workpieces of different specifications, ensure that the workpieces will not fall off during transportation and assembly, adapt to the assembly requirements of different models of planetary gear transmission assemblies, and improve the adaptability of the equipment.

[0038] The X-axis, Y-axis, and Z-axis are perpendicular to each other, forming a Cartesian coordinate system suitable for the three-dimensional layout of the production line. Each sliding drive module can move independently along a set direction and is electrically connected to the overall equipment control system. It can complete each action sequentially according to a preset program, realizing fully automated processing and assembly.

[0039] The automated assembly line for planetary gear transmission assemblies in this embodiment completes the processing and pre-assembly of the drive shaft components using a drive shaft component processing and assembly equipment. Then, the planetary gear transmission assembly mechanism sequentially completes the automated assembly of the planetary gears, sun gear, and internal gear ring. The entire process uses a vision inspection module to achieve assembly accuracy detection and posture adjustment, which effectively improves the assembly efficiency of the planetary gear transmission assembly, ensures the consistency of assembly accuracy, reduces the error rate and labor intensity of manual assembly, and adapts to the needs of large-scale mass production.

[0040] The specific working principle is as follows: Blank loading and turning: After the equipment is started, the second rotary drive module of the blank shaft storage mechanism drives the blank shaft tray to rotate, rotating the blank shaft placed upside down in the blank shaft placement position to the gripping position of industrial robot A; the second Y-axis sliding drive module of industrial robot A drives the multi-axis robotic arm A to move above the blank shaft tray, the multi-axis robotic arm A drives the special chuck A to move down and clamp the blank shaft, and then transports the blank shaft to the lathe machining station, where the lathe chuck automatically clamps it; the lathe turns the blank shaft as a whole according to the program, machining the sun shaft, planetary disk and planetary shaft, forming an integrated drive shaft; Keyway milling: After turning, the lathe chuck is released, and industrial robot A picks up the drive shaft and transfers it to the milling machine station. The milling machine fixture automatically clamps the drive shaft, and the milling cutter mills the keyway at the specified position on the sun axis according to the program. After milling, the fixture is released, and industrial robot A retrieves the drive shaft. Workpiece transfer and attitude adjustment: Industrial robot A transfers the active shaft to the shaft fixture adjustment unit of the active shaft assembly mechanism, and the shaft fixture clamps the inverted active shaft; the flip drive module drives the shaft fixture to flip 180° around the horizontal axis, adjusting the active shaft to an upright posture with the sun axis facing down and the planetary axis facing up. Automated synchronous loading of housings: The inbound and outbound handling mechanism transfers the workpiece pallet carrying the pre-installed bearing housings to the housing loading / unloading platform A; the fifth Z-axis sliding drive module of the housing loading / unloading mechanism A drives the housing clamp to move down and clamp the housing on the workpiece pallet of the housing loading / unloading platform A, and then rises to reset; the fourth X-axis sliding drive module drives the housing clamp to move to the housing bearing platform of one of the AGV trolleys; the fifth Z-axis sliding drive module drives the housing clamp to descend and place the pre-installed bearing housing on the housing bearing platform of that AGV trolley; the housing clamp is then released and reset. The AGV trolley carrying the pre-installed bearing housing travels automatically along the X and Y directions, transporting the housing to the corresponding position of the housing loading and unloading mechanism C. The fifth Z-axis sliding drive module of the housing loading and unloading mechanism C drives the housing clamp to move down and clamp the housing on the AGV trolley. After rising and resetting, the fourth X-axis sliding drive module drives the housing clamp to move above the housing positioning table. The fifth Z-axis sliding drive module drives the housing clamp to descend and accurately place the housing in the assembly position of the housing positioning table. Pre-assembly of the drive shaft and housing: The first Y-axis sliding drive module drives the housing positioning platform to move below the vision inspection mechanism A. After the vision inspection mechanism A confirms that the housing is in place, the housing positioning platform continues to move to directly below the shaft fixture, completing the vertical alignment with the drive shaft. The first Z-axis sliding drive module drives the housing positioning platform to lift upwards, so that the sun shaft of the drive shaft is smoothly inserted into the bearing center hole inside the housing. The planetary disk and planetary shaft enter the gear mounting area on the upper part of the housing, completing the pre-assembly of the drive shaft and housing. The shaft fixture is released, and the first Z-axis sliding drive module drives the housing positioning platform to descend and reset. The first Y-axis sliding drive module drives the housing positioning platform back to the inspection area of ​​the vision inspection mechanism A. The vision inspection mechanism A takes pictures to inspect the housing placement status, the assembly posture of the drive shaft, the insertion depth, and the coaxiality. After confirming that the assembly is qualified, the semi-finished product can be put into storage by the housing loading and unloading mechanism C, another AGV trolley, the housing loading and unloading mechanism A, and the inbound and outbound handling mechanism, waiting to enter the next process. Assembly loading: The inbound and outbound handling mechanism moves the pallet handling platform along the X, Y, and Z directions to pick up the workpiece pallet carrying the pre-installed drive shaft component from the corresponding forklift bearing on the shelf. At this time, the bottom of the workpiece pallet is supported by the pallet handling platform and transferred to the corresponding forklift bearing on the housing loading and unloading platform B. After the RFID identification module identifies the corresponding workpiece pallet information and updates the material status data, the fifth Z-axis sliding drive module of the housing loading and unloading mechanism B drives the housing clamp to move down and clamp the housing on the workpiece pallet. Then it rises and resets. The fourth X-axis sliding drive module drives the housing clamp to move to the corresponding assembly position on the tooling table of the planetary gear transmission assembly assembly mechanism. The fifth Z-axis sliding drive module drives the housing clamp to descend and accurately place the housing with the pre-installed drive shaft component on the assembly position of the tooling table. The lower end of the sun shaft of the drive shaft component passes through the shaft hole of the tooling table downward. Workstation rotation and flow: The first rotary drive module drives the tooling table to rotate and index, and transfers the pre-installed drive shaft housing to the planetary gear assembly station; the first telescopic pusher on the fixed table is activated, the pusher extends and cooperates with the tooling table blocking part to clamp and position the two sides of the housing to prevent displacement during assembly; Planetary shaft angle adjustment and assembly: The third Y-axis sliding drive module drives the vision inspection tool to move above the housing, takes a picture of the circumferential position of the first planetary shaft, identifies it, and sends a feedback signal; the second Z-axis sliding drive module of the active shaft adjustment module drives the sun shaft clamp to move upward and clamp the lower end of the sun shaft, and the rotation drive module drives the active shaft to rotate, precisely adjusting the planetary shaft to the angle to be assembled; the pusher of the planetary gear storage unit pushes the planetary gear at the bottom of the storage cylinder to the waiting position; the planetary gear clamp of the planetary gear feeding unit moves downward and clamps the planetary gear, which is then horizontally moved to directly above the planetary shaft by the first X-axis sliding drive module; the third Z-axis sliding drive module drives the planetary gear clamp to move downward and precisely press the planetary gear onto the planetary shaft; the actions are repeated to complete the circumferential position adjustment of all planetary shafts and the assembly of planetary gears; after assembly, the planetary gear clamp and each sliding drive module are reset; Assembly of the sun gear and internal gear ring: The tooling table continues to rotate, transferring the workpiece to the sun gear and internal gear ring assembly station. The second telescopic pusher extends and clamps the outer shell again. The third rotary drive module of the sun gear and internal gear ring storage mechanism drives the storage tray to rotate and index. The second X-axis sliding drive module of the industrial robot B works in conjunction with the multi-axis robotic arm B to sequentially grab the sun gear and internal gear ring through different special grippers B. The six-dimensional force sensor on the multi-axis robotic arm B detects the workpiece assembly torque in real time and fine-tunes the posture, inserting the sun gear into the center position of the outer shell and the internal gear ring into the outer ring, so that the sun gear, planet gears, and internal gear ring accurately mesh to form a planetary gear transmission assembly. After the assembly is completed, the pusher body of the second telescopic pusher retracts and resets. Finished product unloading and warehousing: The first rotary drive module drives the tooling table to rotate to the loading and unloading station; the outer shell clamp of the outer shell loading and unloading mechanism B clamps the finished product planetary gear transmission assembly and transfers it back to the workpiece pallet of the outer shell loading and unloading platform B; the inbound and outbound handling mechanism transfers the workpiece pallet carrying the finished product to the designated storage location on the shelf, completing the fully automated processing and assembly operation.

[0041] It should be noted that in the description of this invention, all directional indications such as up, down, forward, backward, etc. are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0042] Furthermore, in this invention, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this invention, "a number" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. An automated assembly line for planetary gear transmission assemblies, characterized in that, It includes a drive shaft component processing and assembly equipment (100), a housing storage and handling equipment (200), and a planetary gear transmission assembly equipment (300); The active shaft processing and assembly equipment (100) includes a blank shaft storage mechanism (110), an industrial robot A (120), a lathe (130), and an active shaft assembly mechanism (140); The blank shaft storage mechanism (110) is used to store blank shafts (01) to be processed; The industrial robot A (120) is used to transport the blank shaft (01) of the blank shaft storage mechanism (110) to the processing station of the lathe (130); The lathe (130) is used to integrally turn the blank shaft (01) into a sun shaft (101), a planetary disk (102) and at least one planetary shaft (103) disposed on the circumference of the planetary disk (102), thereby constituting a driving shaft (104). The industrial robot A (120) is used to transport the drive shaft (104) processed by the lathe (130) to the drive shaft assembly mechanism (140); The drive shaft assembly mechanism (140) includes a housing positioning and placement unit (141) and a shaft clamp adjustment unit (142); the housing positioning and placement unit (141) is used to position the housing (202) of the pre-installed bearing (201) in a vertical position, so that the through-shaft channel (203) corresponds to the area below the gear mounting area (204); the shaft clamp adjustment unit (142) is used to receive and clamp the processed drive shaft (104), and can drive the drive shaft (101) to move. 4) Flip and adjust to the upright position with the sun axis (101) facing down and the planetary axis (103) facing up; the drive shaft (104) and the housing (202) in the upright position can be fed relative to each other in the vertical direction, so that the sun axis (101) is inserted into the bearing (201) inside the housing (202), while the planetary disk (102) and the planetary axis (103) are located in the gear mounting area (204) at the top of the housing (202), thereby completing the assembly of the drive shaft (104) and the housing (202); The planetary gear transmission assembly assembly equipment (300) includes a planetary gear feeding and storage mechanism (310), a sun gear and internal gear ring storage mechanism (320), an industrial robot B (330), and a planetary gear transmission assembly assembly mechanism (340). The planetary gear feeding and storage mechanism (310) is used to store multiple planetary gears (301) and can output the planetary gears (301) one by one; The sun gear and internal gear ring storage mechanism (320) is used to store multiple sun gears (302) and internal gear rings (303); The planetary gear transmission assembly assembly mechanism (340) includes a tooling table (341), a first rotary drive module (342), and a drive shaft adjustment module (343). The tooling table (341) has multiple assembly positions (3411) in the circumferential direction. The bottom wall of each assembly position (3411) is provided with a shaft hole (3412) through which the sun shaft (101) can pass. The housing (202) pre-installed with the drive shaft (104) is placed on the assembly position (3411), and the lower end of the sun shaft (101) of the drive shaft (104) passes through the shaft hole (3412) and exits the tooling table (341). The first rotary drive module (342) is used to drive the tooling table (341) to rotate, thereby driving each assembly position (3411) to flow sequentially to the loading and unloading station, the planetary gear assembly station, and the sun gear and internal gear ring assembly station. The active shaft adjustment module (343) corresponds to the planetary gear assembly station. The active shaft adjustment module (343) acts on the lower end of the sun shaft (101) that passes through the tooling table (341) and drives the active shaft (104) to rotate and adjust its position so that each planetary shaft (103) on the active shaft (104) rotates circumferentially to the angle position to be assembled in sequence. The planetary gear feeding and storage mechanism (310) is used to assemble the planetary gears (301) one by one onto the planetary shaft (103) at the angle position to be assembled. The outer shell (202) after the planetary gear (301) assembly is completed is transferred to the sun gear and internal gear ring assembly station via the tooling table (341). The industrial robot B (330) takes the sun gear (302) and internal gear ring (303) from the sun gear and internal gear ring storage mechanism (320) and can assemble the sun gear (302) and internal gear ring (303) into the corresponding outer shell (202) to form a planetary gear transmission assembly. The outer casing storage and handling equipment (200) includes a warehouse (210) and a transfer and handling unit (220); the warehouse (210) is used to store the outer casing (202) of the pre-installed bearing (201), the outer casing (202) assembled with the drive shaft (104), and the finished planetary gear transmission assembly; the transfer and handling unit (220) is used to transfer the outer casing (202) of the pre-installed bearing (201) in the warehouse (210) to the outer casing positioning and placement unit (141) of the drive shaft assembly mechanism (140), and can transfer the outer casing (202) of the assembled drive shaft (104) back to the warehouse (210), and can transfer the outer casing (202) of the drive shaft (104) assembled in the warehouse (210) to the assembly position (3411) of the tooling table (341) of the planetary gear transmission assembly assembly mechanism (340), and can transfer the assembled planetary gear transmission assembly back to the warehouse (210) for storage.

2. The automated assembly line for planetary gear transmission assembly according to claim 1, characterized in that, The shaft clamp adjustment unit (142) includes a shaft clamp (1421) and a flip drive module (1422); the shaft clamp (1421) is installed on the power output end of the flip drive module (1422), and the shaft clamp (1421) is used to clamp the active shaft (104); the flip drive module (1422) is used to drive the shaft clamp (1421) to rotate the active shaft (104) 180° around the horizontal axis, so that the inverted active shaft (104) is flipped to the upright position; The outer shell positioning and placement unit (141) includes an outer shell positioning platform (1411), a first Y-axis sliding drive module (1412), and a first Z-axis sliding drive module (1413). The outer shell positioning platform (1411) has an assembly position (1414) for positioning the outer shell (202) on its surface. The first Y-axis sliding drive module (1412) is used to drive the outer shell positioning platform (1411) to slide along the Y direction to below the shaft clamp (1421). The first Z-axis sliding drive module (1413) is used to drive the outer shell positioning platform (1411) to slide along the Z direction, so as to lift the outer shell (202) and insert the sun shaft (101) into the inner side of the bearing (201) inside the outer shell (202).

3. The automated assembly line for planetary gear transmission assembly according to claim 2, characterized in that, The active shaft assembly mechanism (140) is equipped with a vision inspection mechanism A (150); the first Y-axis sliding drive module (1412) is used to drive the housing positioning stage (1411) to slide back and forth along the Y direction between the detection area of ​​the vision inspection mechanism A (150) and the shaft clamp (1421); The visual inspection mechanism A (150) is used to detect whether the housing (202) is accurately placed on the housing positioning stage (1411). When the housing positioning stage (1411) carries the assembled housing (202) and slides to the area below the detection area of ​​the visual inspection mechanism A (150), the visual inspection mechanism A (150) is used to detect the assembly integrity of the drive shaft (104) and the housing (202).

4. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The industrial robot A (120) includes a multi-axis robotic arm A (121) and a second Y-axis sliding drive module (122); the end of the multi-axis robotic arm A (121) is equipped with a special gripper A (123), which is used to grip a blank shaft (01) or a processed active shaft (104); the second Y-axis sliding drive module (122) is used to drive the multi-axis robotic arm A (121) to slide and transport workpieces along the Y direction; the industrial robot A (120) is also equipped with a special gripper quick-change unit A (170), which includes a quick-change platform A (1701) and at least two special grippers A (123) adapted to different workpieces stored on the quick-change platform A (1701); the multi-axis robotic arm A (121) can replace the special grippers A (123) on the quick-change platform A (1701); The active shaft machining and assembly equipment (100) also includes a milling machine (160), which is used to machine the keyway (1011) on the sun shaft (101). The industrial robot A (120) is used to transport the active shaft (104) machined by the lathe (130) to the milling machine (160) to machine the keyway, and then transport the active shaft (104) with the keyway machined to the active shaft assembly mechanism (140).

5. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The active shaft adjustment module (343) includes a sun axis clamp (3431), a second Z-axis sliding drive module (3432), and a rotation drive module (3433). The second Z-axis sliding drive module (3432) is used to drive the sun axis clamp (3431) to slide along the Z direction below the aligned active shaft (104). The sun axis clamp (3431) is used to clamp the lower end of the sun axis (101) of the active shaft (104). The rotation drive module (3433) is used to drive the sun axis clamp (3431) to drive the active shaft (104) to rotate around the vertical axis to adjust the circumferential rotation angle of the planetary axis (103). The planetary gear transmission assembly assembly mechanism (340) is equipped with a vision inspection mechanism B (350), which corresponds to the planetary gear assembly station. The vision inspection mechanism B (350) includes a vision inspection tool (351) and a third Y-axis sliding drive module (352). The third Y-axis sliding drive module (352) is used to drive the vision inspection tool (351) to slide along the Y direction above the aligned housing (202). The vision inspection tool (351) is used to detect the angular position of the planetary shaft (103) and feed back a signal to control the active shaft adjustment module (343) to drive the active shaft (104) to rotate in order to adjust the planetary shaft (103) to the angular position to be assembled.

6. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The planetary gear transmission assembly assembly mechanism (340) further includes a fixed platform (360), and the tooling table (341) is rotatably arranged relative to the fixed platform (360); the fixed platform (360) is provided with a first telescopic jacking member (361) and a second telescopic jacking member (362) respectively corresponding to the planetary gear assembly station and the sun gear and internal gear ring assembly station, and each telescopic jacking member is provided with a telescopic jacking body (363); the tooling table (341) A blocking part (344) is provided at the corresponding assembly position (3411); when the outer shell (202) is transferred to the planetary gear assembly position, the sun gear and the internal gear ring assembly position along with the tooling table (341), the pushing body (363) of the first telescopic pushing member (361) and the second telescopic pushing member (362) extends out and presses against the side wall of the outer shell (202), and the pushing body (363) cooperates with the blocking part (344) to form a clamping and positioning on both sides of the outer shell (202).

7. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The planetary gear feeding and storage mechanism (310) includes a planetary gear storage unit (311) and a planetary gear feeding unit (312); the planetary gear storage unit (311) includes a loading platform (3111), a storage cylinder (3112), and a pusher (3113); the storage cylinder (3112) is vertically arranged on the loading platform (3111) and can accommodate multiple planetary gears (301) stacked together; the bottom of the storage cylinder (3112) has a through slot (3114) for the passage of a single planetary gear (301) loaded inside; the loading platform (3111) has a waiting position (3115) at the outlet position corresponding to the through slot (3114) of the storage cylinder (3112); the pusher (3113) is arranged on the loading platform (3111) and is used to push the bottom of the storage cylinder (3112) to the storage cylinder (3112). The planetary gears (301) are pushed out one by one to the waiting position (3115); the planetary gear feeding unit (312) includes a planetary gear clamp (3121), a first X-axis sliding drive module (3122) and a third Z-axis sliding drive module (3123). The planetary gear clamp (3121) is used to clamp the planetary gears (301); the first X-axis sliding drive module (3122) is used to drive the planetary gear clamp (3121) to slide along the X direction, so as to transfer the clamped planetary gears (301) between the waiting position (3115) and the planetary gear assembly station; the third Z-axis sliding drive module (3123) is used to drive the planetary gear clamp (3121) to slide along the Z direction, so as to press the planetary gears (301) onto the corresponding planetary shaft (103) of the outer shell (202) on the planetary gear assembly station.

8. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The blank shaft storage mechanism (110) includes a blank shaft material tray (111) and a second rotary drive module (112). The blank shaft material tray (111) has multiple blank shaft placement positions (113) in the circumferential direction. The blank shaft (01) is placed upside down on the blank shaft placement position (113) in a vertical position. The second rotary drive module (112) is used to drive the blank shaft material tray (111) to rotate. The sun gear and internal gear ring storage mechanism (320) includes a storage tray (321) and a third rotary drive module (322). The storage tray (321) has multiple sun gear mounting positions (323) and internal gear ring mounting positions (324) in the circumferential direction. The third rotary drive module (322) is used to drive the storage tray (321) to rotate.

9. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The industrial robot B (330) includes a multi-axis robotic arm B (331) and a second X-axis sliding drive module (332); the end of the multi-axis robotic arm B (331) is equipped with a special gripper B (333), which is used to grip the sun gear (302) or the internal gear ring (303); the second X-axis sliding drive module (332) is used to drive the multi-axis robotic arm B (331) to slide and transport the workpiece along the X direction; a six-dimensional force sensor (334) is provided on the multi-axis robotic arm B (331), which is used to collect the torque of the workpiece held by the special gripper B (333) during assembly, and to feed back the torque value to adjust the angle of the multi-axis robotic arm B (331); The industrial robot B (330) is also equipped with a dedicated gripper quick-change unit B (335), which includes a quick-change platform B (3351) and at least two dedicated grippers B (333) adapted to different workpieces stored on the quick-change platform B (3351). The multi-axis robotic arm B (331) can replace the dedicated grippers B (333) on the quick-change platform B (3351).

10. The automated assembly line for planetary gear transmission assembly according to claim 1, 2, or 3, characterized in that, The warehouse (210) includes a shelf (211) and shell loading / unloading platforms A (212) and B (213) located on both sides of the shelf (211) in the X direction. The shelf (211) has multiple storage layers (2111) along the Z direction. Each storage layer (2111) has multiple fork-mounted slots (214) spaced apart along the X direction. The shell loading / unloading platforms A (212) and B (213) are also provided with fork-mounted slots (214). The fork arms (2141) on both sides of each fork-mounted slot (214) support the workpiece pallet (215). The workpiece pallet (215) is used to support and place the shell (202). The transfer and handling unit (220) includes an inbound and outbound handling mechanism (221), an AGV unit (222), a shell loading and unloading mechanism A (223) and a shell loading and unloading mechanism B (224) corresponding to the loading and unloading platform A (212) and the loading and unloading platform B (213) respectively, and a shell loading and unloading mechanism C (225) corresponding to the active shaft assembly mechanism (140); The inbound and outbound handling mechanism (221) includes a pallet handling platform (2211), a third X-axis sliding drive module (2212), a fourth Y-axis sliding drive module (2213), and a fourth Z-axis sliding drive module (2214). The pallet handling platform (2211) is used to pick up workpiece pallets (215) from the forklift port (214). The third X-axis sliding drive module (2212), the fourth Y-axis sliding drive module (2213), and the fourth Z-axis sliding drive module (2214) cooperate to drive the pallet handling platform (2211) to move in the X, Y, and Z directions, thereby realizing the transfer of the corresponding workpiece pallets (215) between the shelf (211) and the loading / unloading platform A (212) and the loading / unloading platform B (213). Each shell loading and unloading mechanism is equipped with a shell clamp (226), a fourth X-axis sliding drive module (227), and a fifth Z-axis sliding drive module (228). The shell clamp (226) is used to clamp the shell (202), and the fourth X-axis sliding drive module (227) and the fifth Z-axis sliding drive module (228) are used to drive the shell clamp (226) to move along the X and Z directions. The AGV unit (222) is located between the outer shell loading and unloading mechanism A (223) and the outer shell loading and unloading mechanism C (225). The AGV unit (222) includes two AGV trolleys (2221) that can move along the X and Y directions. The AGV trolleys (2221) are equipped with an outer shell carrying platform (2222). The outer shell loading / unloading mechanism A (223), AGV unit (222), and outer shell loading / unloading mechanism C (225) cooperate with each other to transfer the outer shell (202) of the pre-installed bearing (201) on the workpiece tray (215) of the outer shell loading / unloading platform A (212) to the outer shell positioning and placement unit (141) of the drive shaft assembly mechanism (140), and can send the outer shell (202) equipped with the drive shaft (104) back to the workpiece tray (215) of the outer shell loading / unloading platform A (212); the outer shell loading / unloading mechanism B (224) sends the outer shell (202) equipped with the drive shaft (104) on the workpiece tray (215) of the outer shell loading / unloading platform B (213) to the tooling table (341) of the planetary gear transmission assembly assembly mechanism (340), and can send the assembled planetary gear transmission assembly back to the workpiece tray (215) of the outer shell loading / unloading platform B (213).

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