A speed reducer assembly line and assembly method

Abstract

This application relates to a speed reducer assembly line, comprising: a conveyor line for conveying a pallet body carrying speed reducer workpieces; a pallet processing station located upstream of the conveyor line, the pallet processing station including a pallet cleaning mechanism; a material loading station located downstream of the pallet processing station, the material loading station including a loading pallet, a multi-axis robot, and a positioning camera; an assembly station located downstream of the material loading station for assembling the speed reducer workpieces on the pallet body; a fastening detection station including a lifting and positioning mechanism, a screw fastening mechanism, and a screw height detection mechanism; a material unloading and diversion station located downstream of the conveyor line for diverting the speed reducer workpieces to different output positions; and a control unit communicatively connected to the positioning camera, the multi-axis robot, the lifting and positioning mechanism, the screw fastening mechanism, the screw height detection mechanism, and the material unloading and diversion station. This application also relates to a speed reducer assembly method.

Description

Technical Field

[0001] This application relates to the field of automated assembly equipment technology, and in particular to a speed reducer assembly line and assembly method. Background Technology

[0002] A speed reducer typically includes components such as a gear ring, planetary carrier, bearing housing, planetary gear assembly, gland support, gear ring seat, and multiple sets of fastening screws. These components have high requirements for assembly position and fastening quality, especially in precision transmission products such as robot joint modules. The assembly accuracy of the speed reducer directly affects the transmission clearance, operational smoothness, and output performance of the entire machine. Therefore, during the mass production of speed reducers, it is necessary to maintain stable control over the component loading position, pressing position, fastening status, and unloading flow.

[0003] The current gearbox assembly process is typically completed by multiple independent equipment or manual procedures. For example, pallets are transferred to different workstations via conveyor lines, materials are placed onto the pallets or workpieces manually or by robots, and then assembly and inspection are completed separately by pressing equipment, fastening equipment, and testing equipment. While this method can complete basic assembly, the positioning references, inspection results, and material handling judgments between each process are often relatively independent. If metal shavings, oil stains, or other foreign objects remain on the pallets during repeated use, it can easily cause changes in the workpiece's load-bearing height or poor fit of the positioning surfaces. If material loading is not compensated for based on the actual reference position, it can easily lead to subsequent pressing or fastening position misalignment. If the fastening height is not promptly detected after screw fastening or the inspection results are not used for material diversion, products with abnormal fastening may continue to flow into subsequent assembly processes. Summary of the Invention

[0004] One object of this application is to provide a speed reducer assembly line and assembly method, which at least solves the above-mentioned problems.

[0005] To achieve the above objectives, some embodiments of this application provide a speed reducer assembly line, including:

[0006] A conveyor line used to transport the pallet body that carries the reducer workpiece;

[0007] The pallet handling station is located upstream of the conveyor line. The pallet handling station includes a pallet cleaning mechanism, which is used to clean the pallet body.

[0008] The material loading station is located downstream of the pallet handling station. The material loading station includes a loading pallet, a multi-axis robot, and a positioning camera. The positioning camera is used to obtain the reference position of the loading pallet or the material to be loaded. The multi-axis robot is used to transfer the material to be loaded to the pallet body according to the reference position.

[0009] The assembly station is located downstream of the material loading station and is used to assemble the reducer workpieces on the pallet body.

[0010] The screw fastening inspection station includes a lifting and positioning mechanism, a screw fastening mechanism, and a screw height detection mechanism. The lifting and positioning mechanism is used to lift and position the reducer workpiece on the pallet body, the screw fastening mechanism is used to fasten the screws on the reducer workpiece, and the screw height detection mechanism is used to detect the height status of the fastened screws.

[0011] The unloading and diversion station is located downstream of the conveyor line and is used to divert the reducer workpieces to different output positions.

[0012] The control unit is connected to the positioning camera, multi-axis robot, lifting and positioning mechanism, screw fastening mechanism, screw height detection mechanism and unloading and diversion station respectively;

[0013] The control unit is used to control the material distribution station to distribute the reducer workpieces according to the assembly inspection results. The assembly inspection results include the inspection results of the screw height detection mechanism.

[0014] Some embodiments of this application provide a method for assembling a speed reducer, including:

[0015] Clean the pallet body used to support the reducer components;

[0016] The cleaned pallet body is conveyed to the material loading position;

[0017] Obtain the reference position of the loading pallet or the material to be loaded;

[0018] The posture of the multi-axis robot is corrected based on the reference position for picking up and placing materials to be loaded, and the materials to be loaded are transferred to the pallet body by the multi-axis robot.

[0019] The pallet body carrying the materials to be loaded is transported to the assembly position, and the reducer workpiece on the pallet body is assembled.

[0020] The reducer workpiece on the pallet body is lifted and positioned in the locking position;

[0021] Screws are used to fasten the reducer workpiece in the locking position;

[0022] Based on the assembly and inspection results, the material unloading and diversion station is controlled to divert the reducer workpieces. The assembly and inspection results include the inspection results of the screw height detection mechanism.

[0023] Compared with related technologies, the solution provided in this application, through the above arrangement, allows the pallet body to be cleaned before entering the loading and assembly process. After the loading material obtains a reference position from the positioning camera, a multi-axis robot compensates for the placement and removal. The assembled reducer workpiece then undergoes screw fastening and height detection before entering the diversion process. Therefore, the pallet status, material placement position, screw fastening status, and unloading path during the reducer assembly process can be processed in conjunction with the same control logic, preventing the independent accumulation of foreign matter on the pallet, material placement deviations, and screw fastening abnormalities in different processes. This reduces the risk of subsequent assembly position deviations and defective products being mixed into the output path of qualified products. Attached Figure Description

[0024] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0025] Figure 1 This is a schematic diagram of the overall structure of the speed reducer assembly line provided in this embodiment of the disclosure;

[0026] Figure 2 This is a schematic diagram of the structure of the pallet processing station provided in an embodiment of this disclosure;

[0027] Figure 3 This is a structural schematic diagram of the pallet processing station provided in an embodiment of this disclosure from another perspective;

[0028] Figure 4 This is a structural schematic diagram of the pallet processing station provided in an embodiment of this disclosure from another perspective;

[0029] Figure 5 This is a schematic diagram of the structure of the material loading station provided in the embodiments of this disclosure;

[0030] Figure 6 This is a structural schematic diagram of the planetary carrier and bearing housing assembly station provided in an embodiment of this disclosure;

[0031] Figure 7 This is a schematic diagram of the gear ring assembly station provided in an embodiment of this disclosure;

[0032] Figure 8 This is a schematic diagram of the gear ring screw fastening station provided in an embodiment of this disclosure;

[0033] Figure 9 This is a schematic diagram of the structure of the secondary planetary gear assembly station provided in an embodiment of this disclosure;

[0034] Figure 10This is a schematic diagram of the structure of the primary planetary gear assembly station provided in an embodiment of this disclosure;

[0035] Figure 11 This is a structural schematic diagram of the pressure cap support and gear ring seat assembly station provided in the embodiments of this disclosure;

[0036] Figure 12 This is a schematic diagram of a partial unloading structure of a speed reducer assembly line provided in an embodiment of this disclosure;

[0037] Figure 13 This is a schematic flowchart of the speed reducer assembly method provided in the embodiments of this disclosure.

[0038] Figure label:

[0039] 1: Pallet handling station; 2: Material loading station; 3: Assembly station; 4: Unloading and diversion station; 11: Pallet cleaning mechanism; 12: Pallet lifting mechanism; 58: Pallet stop; 59: Pallet in-situ detection device; 14: Changeover trolley positioning mechanism; 15: Loading pallet; 16: Multi-axis robot; 17: Positioning camera; 19: Material transfer mechanism; 22: Planetary carrier and bearing housing assembly station; 23: Bearing loading mechanism; 24: Planetary carrier handling mechanism; 25: Bearing housing handling mechanism; 26: Pressing mechanism; 27: Oiling mechanism; 28: Gear ring assembly station; 29: Secondary positioning mechanism; 30: Servo press; 31: Pin feeding mechanism; 32: Pin gear ring pressing mechanism; 33: Gear ring handling mechanism; 34: Gear ring screw fastening station; 35: Screw fastening mechanism; 36: Automatic screw feeding mechanism; 37: Screw height detection mechanism; 38: Torque calibration mechanism; 39: Clamping mechanism; 40: Screw dispensing valve; 41: Secondary planetary gear assembly station; 42: Pin feeding mechanism; 43: Secondary planetary gear assembly pressing mechanism; 44: Primary planetary gear assembly station; 45: Online grease application mechanism; 46: Pressure cap support and gear ring seat assembly station; 47: Vision inspection camera; 48: Assembly and handling robot; 49: Screw feeding and gluing mechanism; 50: Multi-axis fastening mechanism; 51: Fastening and clamping mechanism; 52: Unloading, clamping, and translating mechanism; 53: Reducer gripper; 54: Lifting module; 55: NG unloading conveyor belt. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0042] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0043] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0044] Unless otherwise stated, the term "multiple" means two or more.

[0045] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0046] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0047] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0048] Combination Figures 1 to 12As shown in the embodiment of this disclosure, a speed reducer assembly line includes: a conveyor line for conveying a pallet body carrying speed reducer workpieces; a pallet processing station 1, located upstream of the conveyor line, including a pallet cleaning mechanism 11 for cleaning the pallet body; a material loading station 2, located downstream of the pallet processing station 1, including a loading pallet 15, a multi-axis robot 16, and a positioning camera 17, wherein the positioning camera 17 is used to acquire the reference position of the loading pallet 15 or the material to be loaded, and the multi-axis robot 16 is used to transfer the material to be loaded to the pallet body according to the reference position; an assembly station 3, located downstream of the material loading station 2, for assembling the speed reducer workpieces on the pallet body; and a locking detection station, including... The system includes a lifting and positioning mechanism, a screw fastening mechanism 35, and a screw height detection mechanism 37. The lifting and positioning mechanism is used to lift and position the reducer workpiece on the pallet body. The screw fastening mechanism 35 is used to fasten the screws on the reducer workpiece. The screw height detection mechanism 37 is used to detect the height status of the fastened screws. The unloading and diversion station 4 is located downstream of the conveyor line and is used to divert the reducer workpiece to different output positions. The control unit is communicatively connected to the positioning camera 17, the multi-axis robot 16, the lifting and positioning mechanism, the screw fastening mechanism 35, the screw height detection mechanism 37, and the unloading and diversion station 4. The control unit is used to control the unloading and diversion station 4 to divert the reducer workpiece according to the assembly inspection results, including the detection results of the screw height detection mechanism 37.

[0049] The speed reducer assembly line provided in this embodiment uses a conveyor line to transport a pallet body carrying the speed reducer workpiece. Pallet processing station 1 is located upstream of the conveyor line, material loading station 2 is located downstream of pallet processing station 1, assembly station is located downstream of material loading station 2, fastening and inspection station is used to fasten and inspect the assembled speed reducer workpiece, and unloading and diversion station 4 is located downstream of the conveyor line to divert the speed reducer workpiece to different output positions. Through this arrangement, the pallet body is cleaned before entering the loading and assembly processes. After the loading material obtains a reference position from the positioning camera 17, it is compensated and placed by the multi-axis robot 16. The assembled speed reducer workpiece then undergoes screw fastening and height detection before entering the diversion process. Therefore, the pallet status, material placement position, screw fastening status, and unloading path during the speed reducer assembly process can be processed together under the same control logic, avoiding the independent accumulation of foreign matter on the pallet, material placement deviation, and screw fastening abnormalities in different processes, thereby reducing the risk of subsequent assembly position deviations and defective products being mixed into the output path of qualified products.

[0050] In this embodiment, the control unit is communicatively connected to the positioning camera 17, the multi-axis robot 16, the lifting and positioning mechanism, the screw fastening mechanism 35, the screw height detection mechanism 37, and the unloading and diversion station 4. After the positioning camera 17 acquires the reference position of the loading tray 15 or the material to be loaded, the control unit controls the multi-axis robot 16 to correct the material picking posture and / or unloading posture based on the reference position. After assembly, the control unit controls the unloading and diversion station 4 to divert the reducer workpiece based on the assembly inspection results, including the detection results of the screw height detection mechanism 37. Compared with the method of relying solely on a fixed program for robot handling and unloading, this scheme configures the loading position compensation and unloading diversion judgment on the same assembly line, so that the loading error control and the end quality judgment are interconnected. Even if there is a placement deviation in the loading pallet 15, or a slight positional shift in the material to be loaded within the material bearing position, the multi-axis robot 16 can still compensate for the loading and unloading based on the reference position; and after the screws are tightened, the height of the tightened screws can be used as one of the diversion criteria to prevent reducer workpieces that do not meet the assembly requirements from entering the qualified product output position.

[0051] In this embodiment, the pallet processing station 1 includes a pallet cleaning mechanism 11. The pallet cleaning mechanism 11 is used to clean the pallet body. During the multi-station cyclic conveying process, the positioning surface, bearing surface, or tooling mating surface of the pallet body is prone to the adhesion of oil, metal shavings, dust, and other residues. If the pallet body is not cleaned before loading, the residues may cause the reducer workpiece or the material to be loaded to have a deviation in support height, thereby affecting the subsequent pressing, locking, and inspection results. In this embodiment, the pallet cleaning mechanism 11 is arranged upstream of the conveyor line, so that the pallet body is cleaned before it carries the material to be loaded, which can reduce the impact of the pallet body's own condition on the subsequent assembly accuracy. This effect is not simply achieved by adding cleaning equipment, but by placing pallet cleaning before material loading, the surface condition of the pallet directly participates in the subsequent positioning accuracy control.

[0052] In this embodiment, the speed reducer workpiece can be understood as a speed reducer semi-finished product or speed reducer assembly at different assembly stages, and the material to be loaded can be a component to be loaded into the speed reducer semi-finished product or speed reducer assembly.

[0053] Optionally, the pallet handling station 1 includes: a pallet lifting mechanism 12 located on one side of the conveyor line; a pallet cleaning mechanism 11 disposed above or to the side of the pallet lifting mechanism 12; and a vacuum cleaner connected to the pallet cleaning mechanism 11; wherein the pallet lifting mechanism 12 has a support portion that cooperates with the pallet body, and the pallet cleaning mechanism 11 has a cleaning end facing the positioning surface and / or bearing surface of the pallet body.

[0054] Specifically, the pallet lifting mechanism 12 can lift the pallet body from the conveyor support position to the cleaning position after the pallet body has moved to the cleaning position, so that the positioning surface and / or bearing surface of the pallet body maintains a relatively stable cleaning distance with the cleaning end. The vacuum cleaner can simultaneously suck up the residue while brushing, blowing or scraping away foreign objects at the cleaning end, reducing the chance of removed foreign objects falling back onto the pallet body or conveyor line. Through the cooperation of the pallet lifting mechanism 12, the pallet cleaning mechanism 11 and the vacuum cleaner, the pallet body can complete the fixed-point cleaning without leaving the conveyor line, which can ensure that the cleaning end is aligned with the key positioning area of ​​the pallet body and reduce the interruption of the cycle caused by manual pallet handling.

[0055] In some embodiments, the cleaning end of the pallet cleaning mechanism 11 may include one or more of a brush, scraper, suction port, and air blowing port. The cleaning end may face the bearing surface on the pallet body used to support the reducer workpiece, or it may face the positioning surface on the pallet body used to cooperate with the lifting and positioning mechanism, positioning pin, or positioning block. The supporting part of the pallet lifting mechanism 12 may include a support plate, a support pin, or a support block that cooperates with the bottom of the pallet body. With the above structure, the cleaning action can be concentrated on the area affecting the assembly positioning, without needing to perform indiscriminate cleaning of the entire pallet body, thereby shortening the cleaning cycle and reducing interference with non-critical areas of the pallet body.

[0056] In some embodiments, the pallet processing station 1 further includes a pallet in-place detection element 59 and a pallet stop element 58. The pallet stop element 58 is disposed near the cleaning position of the conveyor line and is used to stop the pallet body when it reaches the cleaning position; the pallet in-place detection element 59 is used to detect whether the pallet body has reached the preset cleaning position. The control unit is communicatively connected to the pallet in-place detection element 59 and the pallet stop element 58, and controls the pallet lifting mechanism 12 and the pallet cleaning mechanism 11 to operate after the pallet in-place detection element 59 detects that the pallet body is in place. By cooperating with the pallet stop element 58 and the pallet in-place detection element 59, the pallet body can be kept in a certain position before cleaning, avoiding the offset between the cleaning end and the positioning surface or bearing surface of the pallet body when the pallet body is not fully in place.

[0057] In some embodiments, the pallet processing station 1 further includes a pallet foreign object detection device. The pallet foreign object detection device is positioned above or to the side of the pallet body and is used to detect whether foreign objects exist on the positioning surface, bearing surface, or tooling mating area of ​​the pallet body. After the pallet cleaning mechanism 11 cleans the pallet body, the pallet foreign object detection device can re-detect the cleanliness of the pallet body. If the detection result meets the release conditions, the control unit allows the conveyor line to transport the pallet body to the material loading station 2. If the detection result does not meet the release conditions, the control unit can control the pallet cleaning mechanism 11 to clean again or output an abnormality alert. Thus, the pallet cleaning result can be detected and confirmed, reducing the possibility of subsequent workpiece positioning height changes due to residual foreign objects on the pallet body.

[0058] In some embodiments, the pallet handling station 1 further includes a changeover trolley positioning mechanism 14. The changeover trolley positioning mechanism 14 is disposed on one side of the conveyor line and is used to position the changeover trolley carrying pallet bodies of different specifications. The changeover trolley positioning mechanism 14 may include one or more of a trolley positioning pin, a trolley clamping component, and a trolley arrival detection component. After the changeover trolley moves to a preset position, the trolley positioning pin inserts into the positioning hole of the changeover trolley, or the trolley clamping component presses against the positioning part of the changeover trolley, keeping the changeover trolley fixed relative to the conveyor line. Through this structure, pallet bodies of different specifications can enter the conveyor line via the changeover trolley, reducing placement deviations caused by manual pallet handling.

[0059] Optionally, the loading pallet 15 has a material carrying position for carrying the material to be loaded; the material transfer mechanism 19 is disposed between the loading pallet 15 and the multi-axis robot 16; the positioning camera 17 is disposed above the loading pallet 15 or the material transfer mechanism 19; the material loading station 2 also includes: a material detection camera, disposed at the material picking position of the multi-axis robot 16 or above the pallet body; wherein, the material transfer mechanism 19 has a transfer carrying part for receiving the material to be loaded in the material carrying position, and the multi-axis robot 16 has a picking position corresponding to the transfer carrying part.

[0060] In this embodiment, the material loading station 2 includes a loading tray 15, a multi-axis robot 16, and a positioning camera 17. The loading tray 15 has a material carrying position for carrying the material to be loaded. The positioning camera 17 is used to acquire the reference position of the loading tray 15 or the material to be loaded, and the multi-axis robot 16 is used to transfer the material to be loaded to the tray body according to the reference position. The material to be loaded may include one or more of the following components that need to be loaded into the tray body or the reducer workpiece during the reducer assembly process: bearings, gear rings, planetary carriers, planetary gears, pins, pressure cap supports, and gear ring seats. After acquiring the reference position through the positioning camera 17, the multi-axis robot 16 no longer performs pick-up and put-down actions solely according to theoretical coordinates, but corrects the pick-up posture and / or put-down posture according to the actual reference position. Therefore, even if there is a loading error in the loading tray 15, an angle error in the material to be loaded, or a slight offset occurs during the conveying process, the material to be loaded can still be transferred to the tray body with the corrected posture, reducing the initial position deviation of the material before entering the assembly station.

[0061] In this embodiment, the material transfer mechanism 19 is disposed between the loading pallet 15 and the multi-axis robot 16, and the positioning camera 17 is disposed above the loading pallet 15 or the material transfer mechanism 19. The material transfer mechanism 19 has a transfer bearing part that receives the material to be loaded from the material bearing position, and the multi-axis robot 16 has a material picking position corresponding to the transfer bearing part. The material transfer mechanism 19 can be used to transfer the material to be loaded from the loading pallet 15 to a position that is convenient for the multi-axis robot 16 to pick up, and can also be used to perform spacing, posture adjustment or temporary storage of the material to be loaded during the transfer process. By setting the material transfer mechanism 19 between the loading pallet 15 and the multi-axis robot 16, the batch feeding area and the robot's precise picking area can be separated, so that the loading pallet 15 undertakes the batch bearing function and the transfer bearing part undertakes the picking and positioning function. In this way, when the multi-axis robot 16 picks up materials, it faces a more stable transfer carrier, rather than randomly picking up materials directly from batch stacks or multi-cavity trays, thereby reducing the impact of changes in the picking path on the robot's cycle time and picking stability.

[0062] In this embodiment, the material detection camera is positioned at the material handling position of the multi-axis robot 16 or above the pallet body. The material detection camera can be used to detect whether the material to be loaded exists, whether its posture meets the loading conditions, whether the material is placed in the target position on the pallet body, or to detect whether the corresponding assembly area on the pallet body is empty. The positioning camera 17 is mainly used to obtain the reference position of the loading pallet 15 or the material to be loaded, while the material detection camera is mainly used to confirm the material status before and after loading and unloading. The two types of cameras have different functions; by working together, they can solve both the problem of loading and unloading posture correction and the problems of material being missed, misplaced, or not in place, avoiding the deficiency of single visual inspection which can only provide position compensation but cannot confirm the assembly status.

[0063] In some embodiments, the material loading station 2 further includes an AGV trolley or a material trolley. The AGV trolley or material trolley is used to carry the loading pallet 15 and transport the material to be loaded to the material loading station 2. The material loading station 2 may be equipped with a trolley positioning mechanism, which is used to position the AGV trolley or material trolley. The trolley positioning mechanism may include a guide, a stop, a positioning pin, and a positioning detection component. After the AGV trolley or material trolley reaches the preset position, it is mechanically positioned by the trolley positioning mechanism, and then the positioning camera 17 acquires the reference position of the loading pallet 15 or the material to be loaded. In this way, the movement error of the material supply end is first coarsely positioned by the trolley positioning mechanism, and then positionally compensated by the positioning camera 17, which can reduce the amount of compensation when the multi-axis robot 16 picks up materials.

[0064] In some embodiments, the material loading station 2 further includes a lifting mechanism for the loading tray 15. This lifting mechanism switches the loading tray 15 between different height positions, allowing the materials to be loaded onto the loading tray 15 to sequentially enter the picking height range of the multi-axis robot 16. The lifting mechanism can communicate and cooperate with a material detection camera. After the material detection camera detects that the material to be loaded at the current layer has been picked up, the control unit controls the lifting mechanism to switch to the next picking height. In this way, the loading tray 15 can carry materials in multiple layers or multiple slots, increasing the amount of material loaded at one time, while not changing the main picking space of the multi-axis robot 16.

[0065] In some embodiments, the material loading station 2 further includes an illumination source. The illumination source is positioned near the shooting area of ​​the positioning camera 17 or the material detection camera to provide illumination to the loading tray 15, the material to be loaded, or the tray body. The illumination source can be a ring light source, a strip light source, or a surface light source. By providing an illumination source, the impact of surface reflections, shadows, or changes in ambient light on Mark point recognition and material status detection can be reduced, resulting in more stable image boundaries acquired by the positioning camera 17 and the material detection camera.

[0066] Optionally, the positioning camera 17 is a Mark point positioning camera 17; the loading tray 15 and / or the material to be loaded are provided with Mark points; the shooting area of ​​the Mark point positioning camera 17 covers the Mark points; the control unit is communicatively connected to the Mark point positioning camera 17 and the multi-axis robot 16 respectively, so as to correct the picking posture and / or unloading posture of the multi-axis robot 16 according to the Mark point position.

[0067] In this embodiment, the Mark point can be set in the corner area of ​​the loading tray 15, near the material bearing position, or in the non-assembly interference area of ​​the material to be loaded. After the Mark point positioning camera 17 identifies the Mark point, the control unit can obtain the translational deviation and / or angular deviation of the loading tray 15 relative to the theoretical coordinates, and correct the pick-up and place coordinates of the multi-axis robot 16 accordingly. Compared with directly identifying the outline of the material to be loaded, the Mark point has the characteristics of stable shape and clear identification boundary, which can reduce the influence of material reflection, occlusion, or similar shape on the identification result. Therefore, when the same loading tray 15 carries multiple materials or multiple material bearing positions are densely arranged, a unified position reference can still be established through the Mark point, making the compensation action of the multi-axis robot 16 more stable.

[0068] Optionally, assembly station 3 includes gear ring assembly station 28, which includes: a secondary positioning mechanism 29 having a positioning part that cooperates with the reducer workpiece; a servo press 30 disposed above the secondary positioning mechanism 29; a pin feeding mechanism 31 disposed on one side of the secondary positioning mechanism 29; a pin gear ring pressing mechanism 32 connected to the pressing end of the servo press 30; and an oiling mechanism disposed downstream of the pin gear ring pressing mechanism 32; wherein the pin gear ring pressing mechanism 32 has a pin holding part for holding the positioning pin and a gear ring holding part for holding the gear ring.

[0069] In this embodiment, the secondary positioning mechanism 29 repositions the reducer workpiece, reducing the impact of conveyor line transfer, pallet clearance, or previous assembly errors on the gear ring pressing position. The servo press 30 drives the pin gear ring pressing mechanism 32 according to the set stroke and pressure. The pin holding part and the gear ring holding part correspond to the positioning pin and the gear ring respectively, ensuring that the positioning pin pressing and gear ring assembly are completed around the same positioning reference. The oiling mechanism is located downstream and can apply oil to the areas requiring lubrication after gear ring assembly, avoiding oil contamination of the positioning surface or affecting the stability of the positioning pin due to oiling before pressing.

[0070] In some embodiments, the pin and gear ring pressing mechanism 32 may include a pressing connector, a pin retainer, and a gear ring retainer. The pin retainer may retain the positioning pin by clamping, magnetic attraction, vacuum adsorption, or guide hole limiting, while the gear ring retainer may retain the gear ring by internal support, external clamping, or end face adsorption. The pin feeding mechanism 31 may feed the positioning pins one by one to the pin retainer, and the gear ring may be fed to the gear ring retainer by the multi-axis robot 16 or the gear ring transport mechanism 33. By integrating the pin retainer and gear ring retainer into the pressing mechanism that cooperates with the servo press 30, the reference switching error caused when the positioning pin and gear ring use separate pressing mechanisms can be reduced.

[0071] In some embodiments, the assembly station includes a planetary carrier and bearing housing assembly station 22. The planetary carrier and bearing housing assembly station 22 includes a bearing loading mechanism 23, a planetary carrier transport mechanism 24, a bearing housing transport mechanism 25, and a pressing mechanism. The bearing loading mechanism 23 transports the bearing to a preset pick-up position; the planetary carrier transport mechanism 24 transfers the planetary carrier to the reducer workpiece on the pallet body; the bearing housing transport mechanism 25 transfers the bearing housing to the reducer workpiece; and the pressing mechanism presses the bearing or bearing housing into the corresponding installation position. By concentrating the transfer and pressing of the planetary carrier, bearing, and bearing housing in the same assembly station, each part can be assembled around the same pallet positioning reference, reducing the cumulative assembly error caused by multiple cross-station transfers.

[0072] In some embodiments, the planetary carrier and bearing housing assembly station 22 further includes a reaction support mechanism. The reaction support mechanism is located below the pressing mechanism or on one side of the pallet body, and is used to support the pallet body or the reducer workpiece when the pressing mechanism presses down. The reaction support mechanism may include a liftable support block, support plate, or contour support seat. When the pressing mechanism applies a pressing force to the bearing or bearing housing, the reaction support mechanism and the pressing mechanism form a vertically corresponding force path, reducing pallet deformation or positioning loosening caused by the pressing force being transmitted from the pallet body to the conveyor line.

[0073] In some embodiments, the planetary carrier and bearing housing assembly station 22 further includes an oiling mechanism 27. The oiling mechanism 27 is used to apply grease to the mating areas of the bearing, bearing housing, or planetary carrier. The oiling mechanism 27 can be located upstream or downstream of the pressing mechanism. When the oiling mechanism 27 is located upstream of the pressing mechanism, oil can be applied to the mating surfaces before the parts are pressed in; when the oiling mechanism 27 is located downstream of the pressing mechanism, additional oil can be applied to the exposed mating areas after the parts have been pressed in place. By configuring the oiling mechanism 27 at the planetary carrier and bearing housing assembly station 22, the oiling action and the part assembly action can be performed in a fixed sequence, reducing the possibility of missed or repeated oiling.

[0074] In some embodiments, the assembly station includes a bearing housing and planetary carrier screw fastening station. The bearing housing and planetary carrier screw fastening station includes a robotic fastening mechanism, an automatic screw feeding mechanism 36, and a screw height detection mechanism 37. The automatic screw feeding mechanism 36 supplies screws to the robotic fastening mechanism, which fastens the screws into the corresponding threaded holes in the bearing housing and / or planetary carrier. The screw height detection mechanism 37 detects the screw head height after fastening. Multi-point fastening via the robotic fastening mechanism can accommodate screw holes at different locations on the bearing housing and planetary carrier; detecting the screw height after fastening can identify anomalies such as screw overhang, missed fastening, or incorrect fastening.

[0075] In some embodiments, the bearing housing and planetary carrier screw fastening station further includes a torque calibration mechanism 38. The robotic fastening mechanism has a fastening working position corresponding to the reducer workpiece and a calibration working position corresponding to the torque calibration mechanism 38. After entering the calibration working position, the robotic fastening mechanism engages with the torque calibration mechanism 38 to detect the output torque of the fastening end. The control unit can determine whether the fastening end meets the fastening requirements based on the torque calibration results. By setting the torque calibration mechanism 38 on the assembly line, torque verification can be completed without disassembling the fastening mechanism, reducing the possibility of torque drift at the fastening end going undetected.

[0076] In some embodiments, the assembly station includes a gear ring screw fastening station 34. The gear ring screw fastening station 34 is located downstream of the gear ring assembly station 28 and is used to fasten screws onto the gear reducer workpiece that has already been fitted with a gear ring. The gear ring screw fastening station 34 may include a clamping mechanism, an automatic screw feeding mechanism 36, a fastening mechanism, and a screw height detection mechanism 37. The clamping mechanism clamps the gear ring or gear reducer workpiece before fastening, maintaining the gear ring in its assembled position during screw insertion; the automatic screw feeding mechanism 36 supplies screws to the fastening mechanism; the fastening mechanism fastens the screws into the corresponding mounting holes on the gear ring; and the screw height detection mechanism 37 detects the screw height after fastening. Through this station, the fixing action after the gear ring is press-fitted can be performed independently, preventing the gear ring from changing position before being fastened by screws in subsequent stations.

[0077] In some embodiments, the assembly station includes a secondary planetary gear assembly station 41. The secondary planetary gear assembly station 41 includes a pin feeding mechanism 42, a planetary gear feeding mechanism, a needle roller feeding mechanism, a center gear transport mechanism, and a secondary planetary gear assembly pressing mechanism 43. The pin feeding mechanism 42 supplies pins, the planetary gear feeding mechanism supplies planetary gears, the needle roller feeding mechanism supplies needle rollers, the center gear transport mechanism transfers the center gear to the assembly position, and the secondary planetary gear assembly pressing mechanism 43 presses at least some of the pins, planetary gears, needle rollers, and center gear into a secondary planetary gear assembly. By centrally arranging the supply and pressing of the pins, planetary gears, needle rollers, and center gear, the secondary planetary gear assembly can be pre-assembled before entering the reducer workpiece, reducing spatial interference caused by assembling the components piece by piece inside the reducer workpiece.

[0078] In some embodiments, the secondary planetary gear assembly station 41 further includes a pin vibrating feeder and a pin pressing and feeding mechanism. The pin vibrating feeder is used to arrange and output pins in a preset posture, and the pin pressing and feeding mechanism is used to send the arranged pins to the pressing position of the secondary planetary gear assembly pressing mechanism 43. The pin pressing and feeding mechanism may include a feeding head, a pressing mechanism, and a shifting mechanism. By cooperating with the pin vibrating feeder and the pin pressing and feeding mechanism, the pins can be kept in the same direction before pressing, avoiding pressing jamming or uneven rotation of the planetary gear assembly caused by incorrect pin orientation.

[0079] In some embodiments, the secondary planetary gear assembly station 41 further includes a horizontal shifting mechanism. The horizontal shifting mechanism is used to move the part to be pressed or the supporting fixture between the pick-up position, the pre-assembly position, and the pressing position. The horizontal shifting mechanism may include an X-axis shifting module and a Y-axis shifting module. Through the horizontal shifting mechanism, pins, planetary gears, and needle rollers can be received sequentially among different feeding mechanisms and moved below the same pressing axis before pressing, reducing space congestion caused by multiple feeding mechanisms directly surrounding the pressing position.

[0080] In some embodiments, the assembly station includes a primary planetary gear assembly station 44. The primary planetary gear assembly station 44 includes an inner planetary carrier loading mechanism, a primary planetary gear assembly loading mechanism, a pressing mechanism, and an online grease applicator 45. The inner planetary carrier loading mechanism supplies the inner planetary carrier, the primary planetary gear assembly loading mechanism supplies the primary planetary gear assembly, the pressing mechanism presses the primary planetary gear assembly onto the inner planetary carrier, and the online grease applicator 45 applies grease to the mating areas of the inner planetary carrier or the primary planetary gear assembly. By providing the online grease applicator 45 in the primary planetary gear assembly station 44, quantitative grease application can be performed on the mating areas before and after part assembly, reducing uneven lubrication caused by unstable manual grease application.

[0081] In some embodiments, the primary planetary gear assembly station 44 further includes a servo positioning mechanism. The servo positioning mechanism drives the inner planetary carrier or the primary planetary gear assembly to rotate around a preset axis, so that different assembly positions sequentially correspond to the pressing mechanism or the online grease application mechanism 45. By changing the part's orientation through the servo positioning mechanism, the pressing mechanism and the online grease application mechanism 45 can complete assembly or grease application at multiple angular positions in a relatively fixed location, eliminating the need for a separate pressing mechanism for each assembly angle. This structure reduces the number of mechanisms within the station and allows multiple assembly positions to be sequentially positioned based on the same rotation center.

[0082] In some embodiments, the primary planetary gear assembly station 44 further includes a position detection element. The position detection element is used to detect whether the inner planetary carrier has reached the assembly position, or to detect whether the primary planetary gear assembly has been press-fitted into place. The position detection element can be an LVDT displacement detector, a proximity switch, or a photoelectric detector. The control unit controls the pressing mechanism, the online grease application mechanism 45, or the servo positioning mechanism based on the detection result of the position detection element. Confirming the part position through the position detection element avoids pressing when the inner planetary carrier is not in place, and also allows determination of whether the primary planetary gear assembly has reached the preset pressing depth after pressing.

[0083] Optionally, the secondary positioning mechanism 29 is equipped with a positioning detection element; the positioning detection element and the servo press 30 are respectively connected to the control unit; when the positioning detection element detects that the reducer workpiece is positioned in place, the control unit allows the servo press 30 to drive the pin gear ring pressing mechanism 32 to perform pressing.

[0084] In this embodiment, the positioning detection component can be a proximity switch, photoelectric sensor, displacement sensor, pressure sensor, or a positioning detection switch that cooperates with the positioning part. By setting the positioning detection component, the pressing action of the servo press 30 no longer depends solely on the cycle program trigger, but is only allowed to be executed after the reducer workpiece reaches the positioning state. In this way, if the pallet body is not fully against the workpiece, the reducer workpiece has not entered the positioning part, or the positioning part is not properly clamped, premature pressing by the servo press 30 can be avoided, which could cause misalignment of the positioning pin, tilting of the gear ring, or damage to the workpiece. This detection logic creates an action interlock between the secondary positioning mechanism 29 and the servo press 30, solving the problem of not being able to confirm the positioning result even when a positioning mechanism is set up separately.

[0085] Optionally, the fastening inspection station includes: a lifting and positioning mechanism having a lifting part that cooperates with the lower side of the tray body and a clamping part that cooperates with the upper side of the tray body; a screw arranging machine feeding mechanism located on one side of the lifting and positioning mechanism; a screw clamping and transferring mechanism located between the screw arranging machine feeding mechanism and the screw fastening mechanism; a screw dispensing valve located on the transferring path of the screw clamping and transferring mechanism; and a screw height detection mechanism located downstream of the screw fastening mechanism.

[0086] In this embodiment, the lifting and positioning mechanism is used to lift and position the reducer workpiece on the pallet body, the screw fastening mechanism 35 is used to fasten the screws on the reducer workpiece, and the screw height detection mechanism 37 is used to detect the height status of the fastened screws. The lifting and positioning mechanism has a lifting part that cooperates with the lower side of the pallet body and a clamping part that cooperates with the upper side of the pallet body. By lifting the pallet body to the fastening position through the lifting part and clamping the pallet body or reducer workpiece from the top through the clamping part, the vertical movement and tilting of the pallet body can be restricted during the screw fastening process. After the screw fastening is completed, the screw height detection mechanism 37 detects the height status of the fastened screws, which can determine whether the screws are floating, missing, or not fastened in place. The lifting and positioning, screw fastening, and height detection are connected in the same station or adjacent process, so that the positioning status during fastening corresponds to the quality judgment during detection, avoiding the difficulty in tracing the cause of abnormalities when the workpiece is fastened before it is stably positioned and then independently detected downstream.

[0087] In this embodiment, the screw arranging machine's feeding mechanism arranges the screws in a preset posture, and the screw clamping and transferring mechanism transfers the arranged screws to the screw fastening mechanism 35 or the fastening preparation position. A screw dispensing valve is located on the screw's transfer path, enabling dispensing during the screw's transfer process, eliminating the need for a separate screw adhesive application and turnover process. This creates a continuous path for the screws from arrangement, clamping, dispensing to fastening, reducing posture changes caused by repeated transfers between multiple mechanisms and minimizing the risk of adhesive volume changes or contamination of surrounding structures due to prolonged exposure after adhesive application.

[0088] In some embodiments, the screw dispensing valve 40 can be positioned towards the threaded section of the screw. The screw clamping and transfer mechanism pauses or decelerates when holding the screw past the screw dispensing valve 40, allowing the adhesive to be applied to a predetermined area of ​​the threaded section. The screw clamping and transfer mechanism can be a claw-type transfer mechanism, an adsorption-type transfer mechanism, or a transfer mechanism with rotational adjustment function. The screw height detection mechanism 37 can be configured as a displacement detection head, a laser rangefinder sensor, or a contact height gauge, used to detect the height of the screw head relative to the reference surface of the reducer workpiece. By detecting the screw head height, it is possible to determine whether the screw fastening depth meets the requirements without disassembling the reducer workpiece.

[0089] Optionally, the screw fastening inspection station also includes: a torque gun controller, which is communicatively connected to the screw fastening mechanism 35; and a torque calibration mechanism 38, which is located on one side of the screw fastening mechanism 35. The screw fastening mechanism 35 has a fastening working position and a calibration working position. In the calibration working position, the fastening end of the screw fastening mechanism 35 cooperates with the torque calibration mechanism 38.

[0090] In practical applications, after long-term operation, the output torque of the screw fastening mechanism 35 may deviate due to factors such as bit wear, transmission component clearance, or changes in control parameters. This embodiment addresses this by incorporating a torque calibration mechanism 38. This allows the screw fastening mechanism 35 to be moved to a calibration position for torque calibration without being removed from the assembly line. The torque gun controller then corrects or confirms the fastening parameters based on the calibration results. This structure enables verification of the output torque at the fastening end during production, reducing the risk of torque drift being undetectable by relying solely on initial equipment settings. The torque calibration mechanism 38 is located on one side of the screw fastening mechanism 35, preventing the calibration action from occupying the fastening position of the reducer workpiece and spatially distinguishing the calibration process from the normal fastening process.

[0091] Optionally, the assembly station also includes a cap support and gear ring seat assembly station 46. The cap support and gear ring seat assembly station 46 includes a vision inspection camera 47, an assembly and handling robot 48, a screw feeding and gluing mechanism 49, a multi-axis fastening mechanism 50, and a fastening and clamping mechanism 51. The vision inspection camera 47 is positioned above the pallet body, and the assembly and handling robot 48 is positioned on one side of the pallet body for transferring the cap support and / or gear ring seat to the reducer workpiece on the pallet body. The screw feeding and gluing mechanism 49 is positioned on one side of the assembly and handling robot 48 for supplying screws and applying gluing to them. The multi-axis fastening mechanism 50 is positioned on one side of the pallet body for fastening the gluing screws to the reducer workpiece. The fastening and clamping mechanism 51 has a clamping end that mates with the upper side of the reducer workpiece. The shooting area of ​​the visual inspection camera 47 covers the assembly position of the pressure cover support and / or the gear ring seat, and the clamping end of the locking clamping mechanism 51 is set to correspond to the locking end of the multi-axis locking mechanism 50.

[0092] In the above embodiments, the visual inspection camera 47 can detect the assembly position of the cap support and / or gear ring seat after they are placed. Before fastening, the multi-axis fastening mechanism 50 can confirm whether the fastening area meets the requirements based on the detection results. The clamping end of the fastening clamping mechanism 51 is correspondingly set with the fastening end of the multi-axis fastening mechanism 50, so that the upper side of the reducer workpiece is clamped when the screw is fastened, thereby reducing the lifting, swaying or gap change of the cap support or gear ring seat caused by torque during the screw screw insertion process. The screw feeding and gluing mechanism 49 integrates screw supply and gluing in the same station, which enables the screw to enter the fastening action in time after gluing, reducing the amount of glue lost during the transfer of glued screws. Assembly handling, visual inspection, gluing fastening and clamping are coordinated in the same station, so that the assembly of the cap support and gear ring seat not only completes the placement of parts, but also controls the posture of parts and the state of screws simultaneously during the fastening process.

[0093] In some embodiments, the visual inspection camera 47 can be used to detect the hole position of the cap support, the center position of the gear ring seat, the relative angle between the cap support and the reducer workpiece, or to detect whether the cap support and gear ring seat are missing. The locking clamping mechanism 51 can be a cylinder clamping mechanism, a servo clamping mechanism, or an elastic clamping mechanism. The clamping end can be provided with a pressure head, a pressure block, or a contour clamping component to adapt to the local shape of the upper side of the reducer workpiece. The multi-axis locking mechanism 50 can include a multi-axis robot 16 and a locking shaft connected to the end of the multi-axis robot 16, or it can include a fixed multi-axis locking module. With the above structure, the multi-axis locking mechanism 50 can adjust the posture of the locking end according to different locking point positions, while the locking clamping mechanism 51 can form a reaction force support near the locking point, reducing local assembly deviations caused by the locking end pressing down or rotating.

[0094] In some embodiments, the cap support and gear seat assembly station 46 further includes an automatic feeding tray. The automatic feeding tray is used to hold at least one material selected from the cap support, gear seat, or screw. The automatic feeding tray can be configured with multiple material receiving positions, and the assembly handling robot 48 retrieves materials from the corresponding material receiving position based on the detection results of the vision inspection camera 47 or the tray arrival detection device. By supplying the cap support and gear seat through the automatic feeding tray, the assembly handling robot 48 can retrieve materials from a fixed area, reducing the impact of changes in the parts supply position on the handling path.

[0095] In some embodiments, the cap support and gear seat assembly station 46 further includes an adhesive supply pressure tank. The adhesive supply pressure tank is connected to the screw feeding and adhesive application mechanism 49 and is used to supply adhesive to the screw feeding and adhesive application mechanism 49. The adhesive supply pressure tank may be equipped with a pressure detection element, which is used to detect whether the adhesive supply pressure is within a preset range. The control unit controls the operation of the screw feeding and adhesive application mechanism 49 based on the detection result of the pressure detection element, or stops the screw adhesive application and fastening process when the adhesive supply pressure is abnormal. By detecting the adhesive supply pressure, abnormal adhesive application caused by insufficient adhesive supply or excessive pressure can be reduced.

[0096] In some embodiments, the assembly line also includes an RFID reader / writer. The RFID reader / writer is located at one or more stations on the conveyor line and is used to read identification information carried on the pallet body or the reducer workpiece. The control unit invokes the corresponding assembly program, locking parameters, or inspection standards based on the identification information read by the RFID reader / writer. By establishing identification information on the pallet body or the reducer workpiece, different models or batches of reducer workpieces can be automatically matched with corresponding process parameters when switching production on the same assembly line, reducing assembly anomalies caused by manual program selection errors.

[0097] In some embodiments, the assembly line also includes a barcode scanning mechanism. The barcode scanning mechanism is located at the material loading station 2, assembly station, or unloading and diversion station 4, and is used to read barcodes, QR codes, or identification codes on the materials to be loaded, reducer workpieces, or pallet bodies. The encoded information read by the barcode scanning mechanism can be associated with and stored in conjunction with assembly inspection results. By recording material and workpiece information through the barcode scanning mechanism, the loading, assembly, fastening inspection, and unloading and diversion results can be mapped to specific workpieces, facilitating subsequent tracing of the source of anomalies.

[0098] In some embodiments, the assembly line also includes an NG buffer position. The NG buffer position is located upstream or on one side of the NG unloading conveyor belt and is used to temporarily place defective reducer workpieces. The unloading clamping and translating mechanism 52 can transfer defective products to the NG buffer position or the NG unloading conveyor belt according to the diversion command from the control unit. By setting up the NG buffer position, a temporary storage location can be provided for defective products when the NG unloading conveyor belt is temporarily full or requires manual re-inspection, preventing defective products from occupying the output path of qualified products.

[0099] Optionally, the unloading and diversion station 4 includes an unloading clamping and translation mechanism 52, a reducer gripper 53, an assembly line conveyor belt, an NG unloading conveyor belt, and an NG outlet. The unloading clamping and translation mechanism 52 is located downstream of the conveyor line, and the reducer gripper 53 is connected to the unloading clamping and translation mechanism 52. The assembly line conveyor belt is located on one side of the unloading clamping and translation mechanism 52, the NG unloading conveyor belt is located on the other side of the unloading clamping and translation mechanism 52, and the NG outlet is correspondingly located at the outlet end of the NG unloading conveyor belt. The unloading clamping and translation mechanism 52 has a pick-up position corresponding to the conveyor line, a qualified product release position corresponding to the assembly line conveyor belt, and an abnormal product release position corresponding to the NG unloading conveyor belt. By switching between the three positions using the unloading clamping and translation mechanism 52, the reducer workpiece can be transferred to the qualified product output path or the abnormal product output path under the action of the same clamping mechanism, eliminating the need for a separate manual selection station at the end of the conveyor line. After the control unit determines the diversion path based on the assembly inspection results, the unloading clamping and translation mechanism 52 can place qualified reducer workpieces onto the assembly line conveyor belt and place abnormal reducer workpieces onto the NG unloading conveyor belt. This structure directly converts the inspection results into unloading actions, reducing the possibility of abnormal products continuing to flow downstream.

[0100] In some embodiments, the reducer gripper 53 may be a pneumatic gripper, an electric gripper, or a gripper with a contoured gripping surface. The unloading clamping and translation mechanism 52 may include a horizontal moving module, a lifting module 54, and a gripper mounting base. The horizontal moving module is used to move the reducer gripper 53 between the conveyor line, the assembly line conveyor belt, and the NG unloading conveyor belt, and the lifting module 54 is used to move the reducer gripper 53 closer to or away from the reducer workpiece. The NG outlet may be located at the end of the NG unloading conveyor belt for centralized output of defective products. By arranging the assembly line conveyor belt and the NG unloading conveyor belt on different sides of the unloading clamping and translation mechanism 52, the output paths of qualified and defective products can be spatially separated, facilitating separate processing of subsequent assembly assembly and defective product re-inspection.

[0101] Combination Figures 1 to 13 As shown in the embodiments of this disclosure, a method for assembling a speed reducer is also provided, including:

[0102] S1: Clean the pallet body used to support the reducer workpiece;

[0103] S2: Transport the cleaned pallet body to the material loading position;

[0104] S3: Obtain the reference position of the loading pallet 15 or the material to be loaded;

[0105] S4: Correct the posture of the multi-axis robot 16 for picking up and placing materials according to the reference position, and transfer the materials to be loaded to the pallet body through the multi-axis robot 16;

[0106] S5: Transport the pallet body carrying the material to be loaded to the assembly position, and assemble the reducer workpiece on the pallet body.

[0107] S6: Lift the reducer workpiece on the pallet body and position it in the locking position;

[0108] S7: Secure the reducer workpiece in the locking position with screws;

[0109] S8: Based on the assembly inspection results, control the unloading and diversion station 4 to divert the reducer workpieces. The assembly inspection results include the inspection results of the screw height detection mechanism 37.

[0110] For example, the flow path of the reducer workpiece is determined based on the height of the fastened screws; if the height of the fastened screws meets the qualification condition, the reducer workpiece is flowed to the qualified product output position; if the height of the fastened screws does not meet the qualification condition, the reducer workpiece is flowed to the NG output position.

[0111] The reducer assembly method provided in this disclosure has the following steps: The pallet body cleaning step precedes the material loading step, ensuring that the bearing surface and / or positioning surface of the pallet body are clean when the material enters the pallet body; the reference position acquisition step precedes the multi-axis robot 16 pick-and-place step, allowing the pick-and-place action of the multi-axis robot 16 to be corrected according to the actual position; the lifting and positioning step precedes the screw fastening step, ensuring the reducer workpiece is in a stable position before fastening; and the screw height detection step precedes the unloading and diversion step, ensuring the unloading path is determined by the fastening result. This method does not simply arrange cleaning, loading, assembly, fastening, detection, and diversion in a single sequence, but rather links the preceding positioning state with the subsequent quality judgment, ensuring that the critical states of the reducer workpiece can be corrected or confirmed in the corresponding processes from entering the pallet to leaving the assembly line.

[0112] For example, after the pallet body enters the pallet processing station 1 along the conveyor line, the supporting part of the pallet lifting mechanism 12 lifts the pallet body from the bottom, causing the pallet body to move away from the normal support height of the conveyor line and into the cleaning position. The cleaning end of the pallet cleaning mechanism 11 moves towards the bearing surface and positioning surface of the pallet body to clean the areas on the pallet body that may come into contact with the reducer workpiece. Simultaneously, a vacuum cleaner sucks up the removed metal shavings, dust, or oil residue. After cleaning is completed, the pallet lifting mechanism 12 descends, and the pallet body falls back onto the conveyor line and is transported to the material loading position.

[0113] After the pallet body reaches the material loading position, the loading pallet 15 carries the material to be loaded. The positioning camera 17 captures the reference position of the loading pallet 15 or the material to be loaded, and the control unit calculates the offset of the material to be loaded relative to the theoretical picking position based on the reference position. The material transfer mechanism 19 transfers the material to be loaded from the material carrying position to the transfer carrying part. The multi-axis robot 16 picks up the material to be loaded from the transfer carrying part according to the corrected picking posture, and places the material to be loaded in the corresponding position on the pallet body according to the corrected unloading posture. The material detection camera can confirm the presence of the material to be loaded on the transfer carrying part before picking, and can also confirm whether the material position on the pallet body meets the conditions for entering the downstream assembly station after unloading.

[0114] After the pallet body continues to be conveyed to the gear ring assembly station 28, the secondary positioning mechanism 29 positions the reducer workpiece on the pallet body. Once the positioning detection component detects that the reducer workpiece is in position, the control unit allows the servo press 30 to operate. The pin feeding mechanism 31 supplies positioning pins to the pin holding part of the pin gear ring pressing mechanism 32, which holds the gear ring to be pressed. The servo press 30 drives the pin gear ring pressing mechanism 32 downwards, so that the positioning pin and the gear ring are pressed according to the same positioning reference. After pressing, the oiling mechanism applies oil to the gear ring or its adjacent mating area to meet the lubrication requirements of the reducer during subsequent operation.

[0115] After the speed reducer workpiece enters the locking detection station, the lifting and positioning mechanism lifts the pallet body from below, while the clamping part clamps the pallet body or speed reducer workpiece from above, placing the speed reducer workpiece in the locking position. The screw arranging machine's feeding mechanism arranges the screws in a preset posture, the screw clamping and transferring mechanism clamps the screws and moves them along the transfer path, and the screw dispensing valve 40 dispenses adhesive onto the threaded section of the screws along the transfer path. Subsequently, the screw locking mechanism 35 locks the speed reducer workpiece with screws. After locking, the screw height detection mechanism 37 detects the height of the screw head relative to the speed reducer workpiece's reference surface to determine whether the screw meets the locking requirements. If necessary, the screw locking mechanism 35 can also move to the calibration working position, allowing the locking end to engage with the torque calibration mechanism 38, and the torque gun controller confirms or corrects the locking parameters based on the calibration results.

[0116] At the gland support and gear seat assembly station 46, the assembly and handling robot 48 transfers the gland support and / or gear seat to the reducer workpiece on the pallet body. A vision inspection camera 47 captures the assembly position of the gland support and / or gear seat, and the control unit confirms whether the parts are in place based on the vision inspection results. A screw feeding and gluing mechanism 49 supplies screws and applies gluing to them, and a multi-axis locking mechanism 50 locks the gluing screws to the reducer workpiece. During the locking process, the clamping end of the locking clamping mechanism 51 presses against the upper side of the reducer workpiece and corresponds to the locking end of the multi-axis locking mechanism 50, ensuring the gland support and / or gear seat remain in a stable position during locking and reducing the risk of parts lifting or assembly gaps when screws are screwed in.

[0117] After the speed reducer workpiece has completed assembly and locking inspection, the control unit determines the unloading path based on the assembly inspection results. If the screw height meets the qualification requirements and other assembly inspection results are satisfactory, the unloading clamping and translation mechanism 52 moves the speed reducer gripper 53 to the picking position corresponding to the conveyor line, clamps the speed reducer workpiece, moves it to the qualified product unloading position, and places the speed reducer workpiece on the assembly line conveyor belt. If the screw height does not meet the qualification requirements, or if the assembly inspection results indicate an abnormality in the speed reducer workpiece, the unloading clamping and translation mechanism 52 transfers the speed reducer workpiece to the abnormal product unloading position and places it on the NG unloading conveyor belt. The abnormal product is then conveyed to the NG outlet via the NG unloading conveyor belt. Through the above process, qualified and abnormal products are separated during the unloading stage, preventing abnormal products from continuing into the assembly process.

[0118] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. A speed reducer assembly line, characterized in that, include: A conveyor line used to transport the pallet body that carries the reducer workpiece; The pallet handling station is located upstream of the conveyor line. The pallet handling station includes a pallet cleaning mechanism, which is used to clean the pallet body. The material loading station is located downstream of the pallet handling station. The material loading station includes a loading pallet, a multi-axis robot, and a positioning camera. The positioning camera is used to obtain the reference position of the loading pallet or the material to be loaded. The multi-axis robot is used to transfer the material to be loaded to the pallet body according to the reference position. The assembly station is located downstream of the material loading station and is used to assemble the reducer workpieces on the pallet body. The screw fastening inspection station includes a lifting and positioning mechanism, a screw fastening mechanism, and a screw height detection mechanism. The lifting and positioning mechanism is used to lift and position the reducer workpiece on the pallet body, the screw fastening mechanism is used to fasten the screws on the reducer workpiece, and the screw height detection mechanism is used to detect the height status of the fastened screws. The unloading and diversion station is located downstream of the conveyor line and is used to divert the reducer workpieces to different output positions. The control unit is connected to the positioning camera, multi-axis robot, lifting and positioning mechanism, screw fastening mechanism, screw height detection mechanism and unloading and diversion station respectively; The control unit is used to control the material distribution station to distribute the reducer workpieces according to the assembly inspection results. The assembly inspection results include the inspection results of the screw height detection mechanism.

2. The speed reducer assembly line according to claim 1, characterized in that, Pallet handling stations include: The pallet lifting mechanism is located on one side of the conveyor line; the pallet cleaning mechanism is located above or to the side of the pallet lifting mechanism. Vacuum cleaner, connected to the tray cleaning mechanism; The pallet lifting mechanism has a support part that cooperates with the pallet body, and the pallet cleaning mechanism has a cleaning end facing the positioning surface and / or bearing surface of the pallet body.

3. The speed reducer assembly line according to claim 1, characterized in that, A loading pallet has a material support position for holding the material to be loaded; The material transfer mechanism is located between the loading pallet and the multi-axis robot arm; Positioning camera, installed above the loading tray or material transfer mechanism; The material loading station also includes: Material inspection camera is installed at the material handling position of the multi-axis robot or above the pallet body; The material transfer mechanism has a transfer bearing part that receives the material to be loaded from the material bearing position, and the multi-axis robot has a material picking position corresponding to the transfer bearing part.

4. The speed reducer assembly line according to claim 3, characterized in that: The positioning camera is a Mark point positioning camera; The loading pallet and / or the material to be loaded are marked with Mark points; the shooting area of ​​the Mark point positioning camera covers the Mark points; The control unit is connected to the Mark point positioning camera and the multi-axis robot respectively to correct the picking posture and / or unloading posture of the multi-axis robot according to the Mark point position.

5. The speed reducer assembly line according to claim 1, characterized in that, The assembly station includes the gear ring assembly station, which includes: The secondary positioning mechanism has a positioning part that mates with the reducer workpiece; The servo press is positioned above the secondary positioning mechanism; The pin feeding mechanism is located on one side of the secondary positioning mechanism; The pin toothed ring pressing mechanism is connected to the pressing end of the servo press; The oiling mechanism is located downstream of the pin tooth ring pressing mechanism; The pin-gear ring pressing mechanism includes a pin retaining part for retaining the positioning pin and a gear ring retaining part for retaining the gear ring.

6. The speed reducer assembly line according to claim 5, characterized in that: The secondary positioning mechanism is equipped with a positioning detection component; the positioning detection component and the servo press are respectively connected to the control unit for communication. When the positioning detection component detects that the reducer workpiece is in position, the control unit allows the servo press to drive the pin gear ring pressing mechanism to perform pressing.

7. The speed reducer assembly line according to claim 1, characterized in that, Locking inspection station includes: The lifting and positioning mechanism has a lifting part that cooperates with the lower side of the pallet body and a pressing part that cooperates with the upper side of the pallet body; The screw arranging machine's feeding mechanism is located on one side of the lifting and positioning mechanism; The screw clamping and transplanting mechanism is located between the screw arranging machine's feeding mechanism and the screw fastening mechanism; A screw dispensing valve is installed on the transplanting path of the screw clamping and transplanting mechanism; The screw height detection mechanism is located downstream of the screw fastening mechanism.

8. The speed reducer assembly line according to claim 7, characterized in that, The locking and fastening inspection station also includes: Torque gun controller, which is in communication connection with screw fastening mechanism; The torque calibration mechanism is located on one side of the screw fastening mechanism; The screw fastening mechanism has a fastening working position and a calibration working position. In the calibration working position, the fastening end of the screw fastening mechanism cooperates with the torque calibration mechanism.

9. The speed reducer assembly line according to claim 1, characterized in that, The assembly station also includes the gland support and gear ring seat assembly station, which includes: A visual inspection camera is positioned above the tray body; An assembly and handling robot, located on one side of the pallet body, is used to transfer the cap support and / or gear ring seat to the reducer workpiece on the pallet body; The screw feeding and gluing mechanism is located on one side of the assembly and handling robot and is used to supply screws and apply glue to them. A multi-axis locking mechanism is located on one side of the tray body and is used to lock the glued screws to the reducer workpiece. The locking and clamping mechanism has a clamping end that mates with the upper side of the reducer workpiece; The visual inspection camera's shooting area covers the assembly position of the pressure cap support and / or gear ring seat, and the clamping end of the locking clamping mechanism is correspondingly set with the locking end of the multi-axis locking mechanism.

10. A method for assembling a speed reducer, characterized in that, include: Clean the pallet body used to support the reducer components; The cleaned pallet body is conveyed to the material loading position; Obtain the reference position of the loading pallet or the material to be loaded; The posture of the multi-axis robot is corrected based on the reference position for picking up and placing materials to be loaded, and the materials to be loaded are transferred to the pallet body by the multi-axis robot. The pallet body carrying the materials to be loaded is transported to the assembly position, and the reducer workpiece on the pallet body is assembled. The reducer workpiece on the pallet body is lifted and positioned in the locking position; Screws are used to fasten the reducer workpiece in the locking position; Based on the assembly and inspection results, the material unloading and diversion station is controlled to divert the reducer workpieces. The assembly and inspection results include the inspection results of the screw height detection mechanism.

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