Device for assembling planetary wheel assemblies

Abstract

This application relates to an apparatus for assembling planetary gear assemblies, comprising: a pressing mechanism including an output shaft for driving the output shaft to move axially; a rotary drive mechanism, the output end of which is connected to the output shaft for driving the output shaft to rotate around its axis; a torque detection mechanism disposed on the transmission path of the rotary drive mechanism for detecting the torque during the rotation of the output shaft; and a pressing head disposed at the end of the output shaft for driving the inner planetary carrier to rotate and move synchronously with the output shaft. The rotary drive mechanism drives the output shaft to rotate, thereby aligning and engaging the inner planetary carrier with the gear ring structure. When the torque detection mechanism detects a preset torque, the pressing mechanism drives the output shaft to move axially to complete the pressing. Through the coordinated approach of rotational alignment, torque determination, and axial pressing, an automatic meshing assembly process for the planetary gear assembly is achieved, significantly improving assembly stability and reliability while ensuring assembly efficiency.

Description

Technical Field

[0001] This application relates to the field of mechanical assembly equipment technology, and in particular to a device for assembling planetary gear assemblies. Background Technology

[0002] In the assembly process of planetary transmission structures, it is usually necessary to mate and install the inner planetary carrier with the gear ring structure. Since both have toothed structures, the relative position between the teeth must be correct during assembly to achieve smooth meshing. In existing technologies, manual tooth alignment or simple mechanical guiding structures are often used to complete the alignment. When the tooth profiles are not aligned, it is often necessary to repeatedly adjust the workpiece angle, which is cumbersome and inefficient.

[0003] In some automated assembly equipment, the inner planetary carrier is usually pressed directly into the gear ring structure using a press-fit method. However, if the two are not properly aligned and meshed, forced press-fitting can easily cause impact, jamming, or even damage to the gear surface, affecting product quality. At the same time, existing equipment often lacks effective means of detecting the meshing state, making it difficult to determine in a timely manner whether alignment has been completed, further increasing the uncertainty of the assembly process.

[0004] In addition, some assembly structures often use separate mechanisms to achieve rotational alignment and axial pressing, resulting in complex structures and long transmission links. This not only increases the size of the equipment but also easily introduces assembly errors, affecting overall stability.

[0005] However, the inventors discovered at least the following technical problems in the related technology: how to achieve automatic alignment and meshing of the inner planetary carrier and the gear ring structure while ensuring structural simplicity, and to perform stable pressing after meshing. Summary of the Invention

[0006] One object of this application is to provide an apparatus for assembling planetary gear assemblies, at least to solve the aforementioned problems.

[0007] To achieve the above objectives, some embodiments of this application provide an apparatus for assembling planetary gear assemblies, including:

[0008] A press-fitting mechanism, including an output shaft, for driving the output shaft to move axially;

[0009] A rotary drive mechanism, the output end of which is connected to the output shaft for driving the output shaft to rotate around its axis;

[0010] A torque detection mechanism is installed on the transmission path of the rotary drive mechanism to detect the torque during the rotation of the output shaft.

[0011] The press head, located at the end of the output shaft, is used to drive the inner planetary carrier to rotate and move synchronously with the output shaft;

[0012] The rotary drive mechanism drives the output shaft to rotate so that the inner planet carrier and the gear ring structure are aligned and meshed.

[0013] When the torque detection mechanism detects the preset torque, the pressing mechanism drives the output shaft to move axially to complete the pressing.

[0014] Compared with related technologies, the solution provided in this application, through the synergistic effect of the rotary drive mechanism and the pressing mechanism, enables the output shaft to rotate while moving axially. This allows for alignment adjustment when the inner planetary carrier and the gear ring structure are in contact, avoiding the problem of pre-precise tooth alignment required in traditional assembly and improving the adaptability of the assembly. By setting a torque detection mechanism on the transmission path of the rotary drive mechanism, the output shaft torque change reflects the meshing state, realizing real-time perception of the meshing process without the need for additional vision or position detection devices. The structure is simple and highly reliable. Pressing is performed only after meshing is detected, avoiding tooth surface damage or jamming caused by forced pressing in an misaligned state, thereby improving assembly quality and reducing the defect rate.

[0015] This embodiment achieves an automatic meshing assembly process for planetary gear assemblies through a coordinated approach of rotational alignment, torque determination, and axial pressing, significantly improving assembly stability and reliability while ensuring assembly efficiency. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the structure of the apparatus for assembling planetary gear assemblies provided in an embodiment of this disclosure;

[0018] Figure 2 This is a partial structural schematic diagram of the device provided in the embodiments of this disclosure;

[0019] Figure 3 This is an assembly diagram of the output shaft and sleeve provided in an embodiment of this disclosure;

[0020] Figure 4 This is an assembly diagram of the sleeve and rolling element provided in the embodiments of this disclosure;

[0021] Figure 5 This is a schematic diagram of the internal planetary carrier provided in an embodiment of this disclosure;

[0022] Figure 6 This is a schematic diagram of the structure of the fixing fixture provided in the embodiments of this disclosure;

[0023] Figure 7 This is an assembly diagram of the inner planetary carrier and gear ring structure provided in an embodiment of this disclosure;

[0024] Figure 8 This is a schematic diagram of the elastic support structure provided in the embodiments of this disclosure;

[0025] Figure 9 This is a cross-sectional schematic diagram of the elastic support structure provided in the embodiments of this disclosure.

[0026] Figure label:

[0027] 10: Press-fitting mechanism; 20: Rotary drive mechanism; 21: Output end of rotary drive mechanism; 30: Torque detection mechanism; 40: Output shaft; 41: Receiving groove; 50: Press-fitting head; 60: Connecting structure; 61: Sleeve; 611: Receiving mating groove; 601: Receiving cavity; 62: Rolling element; 63: First flange; 70: Mounting bracket; 71: Top plate; 72: Bracket; 80: Fixture; 81: Mounting plate; 82: Elastic support structure; 821: Support column; 822: Second flange; 823: Spring; 824: Stop; 831: Clamping plate; 832: Drive cylinder; 84: Base; 90: In-position detection switch; 100: Inner planetary carrier; 200: Gear ring structure. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Unless otherwise stated, the term "multiple" means two or more.

[0033] 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.

[0034] 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.

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0036] Combination Figures 1 to 9 As shown, the apparatus for assembling planetary gear assemblies provided in this embodiment includes: a pressing mechanism 10, a rotary drive mechanism 20, a torque detection mechanism 30, and a pressing head 50;

[0037] The pressing mechanism 10 includes an output shaft 40 for driving the output shaft 40 to move axially; a rotary drive mechanism 20, the output end 21 of which is connected to the output shaft 40 for driving the output shaft 40 to rotate around its axis; a torque detection mechanism 30, disposed on the transmission path of the rotary drive mechanism 20, for detecting the torque during the rotation of the output shaft 40; and a pressing head 50, disposed at the end of the output shaft 40, for driving the inner planetary carrier 100 to rotate and move synchronously with the output shaft 40. The rotary drive mechanism 20 drives the output shaft 40 to rotate, so that the inner planetary carrier 100 and the gear ring structure 200 are aligned and meshed. When the torque detection mechanism 30 detects a preset torque, the pressing mechanism 10 drives the output shaft 40 to move axially to complete the pressing. The preset torque is a threshold value pre-calibrated based on the meshing characteristics of the inner planetary carrier and the gear ring structure, and can be adjusted according to different component specifications.

[0038] The apparatus for assembling planetary gear assemblies provided in this disclosure, through the coordinated action of the rotary drive mechanism 20 and the pressing mechanism 10, enables the output shaft 40 to rotate while moving axially. This allows for alignment adjustment when the inner planet carrier 100 is in contact with the gear ring structure 200, avoiding the need for precise pre-alignment of teeth in traditional assembly and improving the adaptability of the assembly. By setting a torque detection mechanism 30 on the transmission path of the rotary drive mechanism 20, the torque change of the output shaft 40 reflects the meshing state, realizing real-time perception of the meshing process without the need for additional vision or position detection devices. The structure is simple and highly reliable. Pressing is performed only after meshing is detected, avoiding tooth surface damage or jamming caused by forced pressing in an misaligned state, thereby improving assembly quality and reducing the defect rate.

[0039] During assembly, the gear ring structure 200 to be assembled is first fixed on the fixture 80, and the inner planetary carrier 100 is clamped or adsorbed by the press-fit head 50. Then, the press-fit mechanism 10 drives the output shaft 40 to move axially toward the gear ring structure 200, so that the end face of the inner planetary carrier 100 contacts the end face of the gear ring structure 200. When the inner planetary carrier 100 and the gear ring structure 200 are not yet aligned, due to tooth interference, the inner planetary carrier 100 cannot directly enter the gear ring. At this time, the rotary drive mechanism 20 drives the output shaft 40 to rotate around its axis, thereby causing the inner planetary carrier 100 to perform circumferential adjustment while in contact with the gear ring structure 200, so that the inner planetary carrier 100 gradually finds the correct meshing position with the gear ring structure 200.

[0040] During the aforementioned rotation process, the torque detection mechanism 30 monitors the torque change of the output shaft 40 in real time. When the inner planetary carrier 100 and the gear ring structure 200 transition from an unmeshed state to a meshed state, the rotational resistance of the output shaft 40 changes, and the torque detection mechanism 30 can detect the corresponding torque change signal. Based on this torque change, it can be determined that the inner planetary carrier 100 and the gear ring structure 200 have completed alignment and meshing. At this time, the pressing mechanism 10 continues to drive the output shaft 40 to move axially, pressing the inner planetary carrier 100 axially into the gear ring structure 200 until the pressing is completed.

[0041] This embodiment achieves an automatic meshing assembly process for planetary gear assemblies through a coordinated approach of rotational alignment, torque determination, and axial pressing, significantly improving assembly stability and reliability while ensuring assembly efficiency.

[0042] In some embodiments, when the end face of the inner planetary carrier 100 is in contact with the end face of the gear ring structure 200, the rotary drive mechanism 20 drives the output shaft 40 to rotate so that the inner planetary carrier 100 is circumferentially adjusted relative to the gear ring structure 200 and meshes.

[0043] Specifically, in the initial stage of press fitting, the press fitting mechanism 10 drives the output shaft 40 to move axially downward until the end face of the inner planetary carrier 100 contacts the end face of the gear ring structure 200. At this time, due to the relative positional deviation of the tooth profiles, the inner planetary carrier 100 cannot directly enter the gear ring structure 200 to form a meshing state, but is in a state of end face contact but not meshing. In this state, the rotary drive mechanism 20 drives the output shaft 40 to rotate at a low speed around its axis, thereby causing the press fitting head 50 and the inner planetary carrier 100 to perform circumferential adjustment relative to the gear ring structure 200 while maintaining end face contact.

[0044] As the output shaft 40 continues to rotate, the teeth of the inner planetary carrier 100 gradually and tentatively align with the teeth of the gear ring structure 200. When the rotation reaches a suitable angle, the teeth of the inner planetary carrier 100 smoothly enter the tooth grooves of the gear ring structure 200, realizing the transition from end-face contact to meshing. During this process, because end-face contact is maintained at all times, the inner planetary carrier 100 is pre-positioned in the axial direction, so that circumferential adjustment is carried out only around tooth profile matching, avoiding the alignment difficulties caused by multi-degree-of-freedom coupling.

[0045] This embodiment achieves circumferential adjustment of the inner planetary carrier 100 by rotating it in a state of end-face contact, with the axial alignment already in place. Compared to alignment in a completely suspended state, this significantly reduces alignment difficulty and improves meshing efficiency. End-face contact forms a stable contact reference, helping to reduce swaying or offset of the inner planetary carrier 100 during rotation, making the alignment process smoother and more reliable. Gradual meshing in the contact state avoids tooth surface impact or jamming caused by direct press-fitting, effectively reducing the risk of tooth surface damage and improving assembly quality. Furthermore, this method achieves automatic tooth alignment without the need for additional complex alignment detection or guiding structures, resulting in a simple structure that is easy to implement in engineering applications.

[0046] Optionally, the output shaft 40 passes through and is coaxially arranged with the output end 21 of the rotary drive mechanism, and the output shaft 40 and the output end 21 of the rotary drive mechanism are connected by a connecting structure 60. When the rotary drive mechanism 20 drives the output end 21 to rotate, it can transmit the rotational torque to the output shaft 40, so that the output shaft 40 rotates synchronously around its own axis; at the same time, the output shaft 40 can still move independently along the axial direction under the drive of the pressing mechanism 10, thereby realizing the composite motion of rotation and axial feed.

[0047] Specifically, in this embodiment, by setting the connecting structure 60, reliable transmission between the two is ensured, while allowing the output shaft 40 to have a certain relative displacement capability in the axial direction. During the assembly process, when the rotary drive mechanism 20 drives the output end 21 of the rotary drive mechanism to rotate, the rotational torque is transmitted to the output shaft 40 through the connecting structure 60, thereby driving the press head 50 and the inner planetary carrier 100 to perform circumferential adjustment; at the same time, when the press mechanism 10 drives the output shaft 40 to move axially, the connecting structure 60 allows the output shaft 40 to generate axial displacement relative to the rotary drive mechanism 20 without affecting the installation position and working state of the rotary drive mechanism 20 body.

[0048] Optionally, the outer side wall of the output shaft 40 is constructed with multiple receiving grooves 41 along the axial direction; the connecting structure 60 includes: a sleeve 61, the inner side wall of which is constructed with multiple receiving mating grooves 611 along the axial direction, the receiving mating grooves 611 corresponding one-to-one with the receiving grooves 41 and enclosing to form a receiving cavity 601; a rolling element 62, disposed in the receiving cavity 601; wherein, the sleeve 61 is installed on the output end 21 of the rotary drive mechanism, and the rotary drive mechanism 20 drives the sleeve 61 to rotate, thereby driving the output shaft 40 to rotate around its axis; when the output shaft 40 moves axially, the rolling element 62 rolls in the receiving cavity 601, so that the output shaft 40 and the sleeve 61 maintain a transmission connection while allowing relative axial displacement.

[0049] Specifically, the rotary drive mechanism 20 drives the sleeve 61 to rotate, transmitting the rotational torque to the output shaft 40 via the rolling element 62, causing the output shaft 40 to rotate synchronously around its axis. Simultaneously, when the pressing mechanism 10 drives the output shaft 40 to move axially, the rolling element 62 rolls axially within the receiving cavity 601, allowing the output shaft 40 to generate axial displacement relative to the sleeve 61 without affecting the transmission connection between them. Thus, reliable circumferential transmission and smooth axial sliding are simultaneously achieved within the same connection structure 60.

[0050] This embodiment transforms traditional sliding contact into rolling contact by incorporating a rolling element 62 between the output shaft 40 and the sleeve 61. This significantly reduces frictional resistance, minimizes wear, and improves transmission efficiency and service life. While ensuring effective torque transmission, this structure allows the output shaft 40 to move freely axially, enabling coordinated rotational alignment and press-fitting feed. This avoids the need for complex multi-stage transmissions or separate mechanisms, simplifying the overall structure. Furthermore, the guiding effect of the rolling element 62 within the accommodating cavity 601 helps constrain the movement trajectory of the output shaft 40, reducing axial runout and improving press-fitting accuracy and assembly stability.

[0051] In some embodiments, the rolling element 62 is a ball. By defining the rolling element 62 as a ball, a point-contact rolling fit is formed between the output shaft 40 and the sleeve 61. Compared to line contact or surface contact, the ball has a smaller contact area when rolling within the receiving cavity 601, further reducing frictional resistance. This facilitates smooth relative movement during the axial movement of the output shaft 40, reducing the occurrence of jamming. Simultaneously, the ball experiences a more uniform force distribution during rolling, effectively reducing localized wear and improving the service life and operational stability of the connecting structure 60.

[0052] In actual operation, the balls can achieve stable cyclic rolling within the accommodating cavity 601, enabling the output shaft 40 to achieve both rotary transmission and axial movement flexibility, thereby ensuring the coordinated operation of rotary drive and pressing action.

[0053] The rolling element consists of multiple balls evenly distributed circumferentially, and a retaining structure can be provided to limit the relative position of the balls, so that the balls circulate and roll along a predetermined path within the receiving cavity.

[0054] Optionally, the connection structure 60 further includes: a first flange 63, which is sleeved on the outside of the sleeve 61, one end of the first flange 63 being detachably connected to the output end 21 of the rotary drive mechanism, and the other end being detachably connected to the sleeve 61.

[0055] The first flange 63 serves as an intermediate connecting component, structurally transitioning the rotary drive mechanism 20 to the sleeve 61, enabling stable power transmission between the two while facilitating disassembly and maintenance.

[0056] Specifically, during assembly, the rotational torque of the output end 21 of the rotary drive mechanism is first transmitted to the first flange 63, and then from the first flange 63 to the sleeve 61, ultimately driving the output shaft 40 to rotate. Since the first flange 63 forms a detachable connection with both the rotary drive mechanism 20 and the sleeve 61, when it is necessary to inspect, replace, or adjust the sleeve 61, the rolling element 62, or the output shaft 40, only the first flange 63 needs to be disassembled to separate the relevant components, without having to disassemble the entire rotary drive mechanism 20, thereby improving maintenance efficiency.

[0057] In some embodiments, the rotary drive mechanism 20 includes a servo rotary motor for driving the output shaft 40 to rotate.

[0058] In practical implementation, the output end of the servo rotary motor is connected to the output shaft 40 via the connecting structure 60, enabling precise control of the rotation speed and angle of the output shaft 40 according to preset control commands. During assembly, when the inner planetary carrier 100 and the gear ring structure 200 make end-face contact but are not yet meshed, the servo rotary motor can optionally drive the output shaft 40 to rotate at a lower speed, allowing the inner planetary carrier 100 to perform circumferential adjustment relative to the gear ring structure 200 in the contact state, thereby gradually achieving tooth alignment.

[0059] In some embodiments, the output shaft 40 rotates intermittently or continuously at a preset speed during rotation to improve the meshing power between the planetary carrier and the gear ring structure 200.

[0060] Specifically, a continuous low-speed rotation mode can be selected according to the actual working conditions, allowing the inner planetary carrier 100 to continuously perform circumferential scanning to find the meshing position; alternatively, an intermittent rotation mode can be used, where the output shaft 40 stops briefly after rotating a certain angle, in order to reduce the influence of inertia and improve the controllability of the alignment process. By reasonably setting the rotation mode, the inner planetary carrier 100 can more stably complete the meshing and alignment with the gear ring structure 200 in the contact state.

[0061] By setting appropriate speeds and rotation modes, impacts or tooth skipping caused by excessive speeds can be effectively avoided, thereby reducing the risk of tooth surface damage. Furthermore, the flexible switching between intermittent and continuous rotation modes allows the device to adapt to the assembly requirements of planetary gear assemblies of different specifications, improving the device's versatility and adaptability.

[0062] Optionally, the torque detection mechanism 30 includes a torque sensor, which is disposed on the transmission path between the rotary drive mechanism 20 and the output shaft 40, and is used to detect the torque change when the output shaft 40 rotates, so as to characterize the meshing state between the inner planetary carrier 100 and the gear ring structure 200.

[0063] During actual assembly, when the rotary drive mechanism 20 drives the output shaft 40 to rotate the inner planetary carrier 100, the torque sensor continuously detects the torque changes of the output shaft 40. Before the inner planetary carrier 100 and the gear ring structure 200 are engaged, the torque of the output shaft 40 is relatively stable due to tooth interference or end-face contact resistance. As the output shaft 40 rotates, the inner planetary carrier 100 gradually adjusts to a suitable angle. When its teeth engage with the tooth grooves of the gear ring structure 200, the force state of the output shaft 40 changes, and the torque changes accordingly. The torque sensor can detect this change and use it as a basis for determining whether the inner planetary carrier 100 and the gear ring structure 200 have completed alignment and engagement.

[0064] In this embodiment, by arranging the torque sensor on the transmission path between the rotary drive mechanism 20 and the output shaft 40, torque information related to the actual force on the output shaft 40 can be directly obtained. The detection results are more realistic and reliable, which is beneficial for accurately reflecting the state changes during the meshing process. Secondly, using torque changes to characterize the meshing state eliminates the need for additional visual inspection or position detection devices, thereby simplifying the system structure and reducing costs. In addition, torque detection is a contact-type mechanical feedback method with strong anti-interference capabilities, which can adapt to assembly requirements under different environmental conditions and improve the stability and consistency of the assembly process.

[0065] In some embodiments, the pressing mechanism 10 includes a servo press for driving the output shaft 40 to move axially. Specifically, the output end of the servo press is connected to the output shaft 40, and under the drive of the control system, the axial displacement of the output shaft 40 can be precisely controlled, thereby driving the pressing head 50 and the inner planetary carrier 100 to move or press into the gear ring structure 200 axially.

[0066] During actual assembly, after the inner planetary carrier 100 and the gear ring structure 200 complete their alignment and engagement, the servo press drives the output shaft 40 to continue moving axially according to preset displacement or pressure parameters, gradually pressing the inner planetary carrier 100 into the gear ring structure 200 until the predetermined assembly position is reached. During this process, the servo press can adjust the pressing speed, displacement, and force according to actual working conditions, ensuring a smooth pressing process and preventing impacts or overloads.

[0067] In some embodiments, after the pressing mechanism 10 completes the meshing and alignment, it continues to drive the output shaft 40 to move axially so that the inner planetary carrier 100 and the gear ring structure 200 are pressed into a predetermined position.

[0068] Specifically, after the torque detection mechanism 30 detects a change in the torque of the output shaft 40 and indicates that engagement has been completed, the pressing mechanism 10 no longer performs rotational alignment, but instead enters the axial pressing stage. By continuously driving the output shaft 40 to move axially, the inner planetary carrier 100 is stably pressed into the gear ring structure 200.

[0069] During this process, the output shaft 40 drives the pressing head 50 and the inner planetary carrier 100 to gradually enter the gear ring structure 200 axially until the set assembly depth or pressing position is reached. Since the alignment and meshing have been completed before pressing, the inner planetary carrier 100 can smoothly enter the gear ring structure 200, avoiding tooth interference or jamming. Simultaneously, the pressing mechanism 10 can adjust the pressing process according to a preset displacement or pressure control strategy to maintain a stable pressing process.

[0070] In some embodiments, the pressing head 50 is a vacuum pressing head used to adsorb the inner planetary carrier 100. Specifically, the vacuum pressing head forms an adsorption connection with the inner planetary carrier 100 through a negative pressure source. During the process of the pressing mechanism 10 driving the output shaft 40 to move and the rotation driving mechanism 20 driving the output shaft 40 to rotate, the inner planetary carrier 100 always moves synchronously with the pressing head 50, thereby achieving stable clamping.

[0071] In the actual assembly process, before alignment and pressing, the vacuum press head first contacts the inner planetary carrier 100 and establishes negative pressure adsorption, fixing the inner planetary carrier 100 to the end of the pressing head 50. Subsequently, under the action of the rotary drive mechanism 20, the output shaft 40 drives the vacuum press head and the inner planetary carrier 100 to rotate synchronously, achieving circumferential alignment with the gear ring structure 200. During the pressing stage, the output shaft 40 moves axially, and the vacuum press head continues to drive the inner planetary carrier 100 towards the gear ring structure 200 to complete the pressing. Throughout the entire process, the inner planetary carrier 100 can maintain a stable state without the need for additional mechanical clamping mechanisms.

[0072] In some embodiments, the device further includes: a mounting bracket 70, a top plate 71, and a support 72, the support 72 being disposed below the top plate 71; a rotary drive mechanism 20 being mounted on the support 72, and a pressing mechanism 10 being mounted on the top plate 71; the output end of the pressing mechanism 10 passing through the top plate 71 and connected to an output shaft 40, the output shaft 40 passing through the bottom of the top plate 71 and the support 72 in sequence, and being connected to a pressing head 50 located below the support 72.

[0073] In specific implementation, the top plate 71 supports the pressing mechanism 10, enabling the pressing mechanism 10 to apply driving force to the output shaft 40 axially; the bracket 72 is used to mount the rotary drive mechanism 20, so that the output end 21 of the rotary drive mechanism and the output shaft 40 form a coaxial transmission relationship. By arranging the pressing mechanism 10 and the rotary drive mechanism 20 on the top plate 71 and the bracket 72 respectively, and connecting them through the output shaft 40, the two are arranged in a vertically layered manner in space and achieve coordinated driving in function. The output shaft 40 passes through the bottom of the top plate 71 and the bracket 72 axially and extends to the bottom of the bracket 72, connecting with the pressing head 50, thereby unifying the rotary drive and pressing execution onto the same axis.

[0074] During assembly, the pressing mechanism 10 applies an axial driving force to the output shaft 40 via the top plate 71, causing the output shaft 40 to drive the pressing head 50 and the inner planetary carrier 100 to move axially. Simultaneously, the rotary drive mechanism 20 applies a rotational driving force to the output shaft 40 via the bracket 72, causing the output shaft 40 to rotate around its axis, thereby achieving the alignment adjustment of the inner planetary carrier 100. Since the output shaft 40 passes through the top plate 71 and the bracket 72 and remains coaxially arranged, the rotation and pressing actions are completed on the same axis, reducing eccentricity and error accumulation.

[0075] Optionally, it also includes: a fixing fixture 80, including a mounting plate 81 and an elastic support structure 82, wherein the mounting plate 81 is provided with a clamping mechanism for fixing the gear ring structure 200 of the planetary gear assembly; during the press-fitting process, the elastic support structure 82 is used to generate elastic clearance when the inner planetary carrier 100 and the gear ring structure 200 are not engaged, and to provide a reverse support force.

[0076] In practice, before assembly, the gear ring structure 200 is positioned and fixed on the mounting plate 81 by a clamping mechanism to maintain a stable position during assembly. When the press-fitting mechanism 10 drives the output shaft 40 to move the inner planetary carrier 100 toward the gear ring structure 200, the end faces of the inner planetary carrier 100 and the gear ring structure 200 first come into contact. Before they are aligned and engaged, due to tooth interference, the inner planetary carrier 100 cannot immediately enter the gear ring structure 200. At this time, the axial load acting on the gear ring structure 200 is transmitted to the elastic support structure 82 through the mounting plate 81, causing the elastic support structure 82 to undergo elastic deformation, thereby causing a slight displacement of the mounting plate 81 and achieving axial clearance.

[0077] After the inner planetary carrier 100 completes the alignment and meshing through the rotary drive mechanism 20, the tooth interference disappears, and the elastic support structure 82 returns to its original state under its own elastic force, pushing the mounting plate 81 and the gear ring structure 200 to reset, and continuously providing reverse support force during the subsequent pressing process, so that the inner planetary carrier 100 can be pressed into the gear ring structure 200 under stable force conditions.

[0078] Based on the above structure, this embodiment incorporates an elastic support structure 82, enabling the gear ring structure 200 to provide appropriate clearance in the non-engaged state. This avoids excessive rigid impact during press-fitting and reduces the risk of tooth surface damage. Secondly, the elastic support structure 82 provides stable reverse support force after engagement, helping to ensure uniform force distribution during press-fitting and improving assembly quality. Thirdly, this structure can automatically adapt to alignment errors without adding complex control, making the assembly process smoother and more reliable. Furthermore, the cooperation between the mounting plate 81 and the clamping mechanism ensures precise positioning of the gear ring structure 200, which helps improve overall assembly accuracy.

[0079] Optionally, the clamping mechanism includes: a clamping plate 831 for clamping the gear ring structure 200; and a drive cylinder 832, which is mounted on the mounting plate 81. The output end of the drive cylinder 832 is connected to the clamping plate 831 and is used to drive the clamping plate 831 to move toward or away from the gear ring structure 200 to achieve clamping or loosening.

[0080] In practice, before assembly, the drive cylinder 832 is in a retracted state, and the clamping plate 831 is in an open position, facilitating the placement of the gear ring structure 200 in the predetermined position on the mounting plate 81. Once the gear ring structure 200 is in place, the drive cylinder 832 actuates, pushing the clamping plate 831 radially toward the gear ring structure 200, thus clamping the gear ring structure 200 and stably fixing it onto the mounting plate 81. After assembly, the drive cylinder 832 reverses its movement, moving the clamping plate 831 away from the gear ring structure 200, releasing the clamping state, and facilitating the removal of the assembled planetary gear assembly.

[0081] During assembly, the gear ring structure 200 forms a stable clamping relationship with the mounting plate 81 through the clamping plate 831, effectively restricting its movement in the radial and circumferential directions, thereby providing a stable reference position for the alignment and meshing of the inner planetary carrier 100 and subsequent press-fitting. At the same time, the drive cylinder 832 can achieve rapid response according to control commands, making the clamping and releasing actions have good repeatability.

[0082] Optionally, the elastic support structure includes: a support column 821, which passes through the mounting plate 81; a second flange 822, which is sleeved on the support column 821 and passes through the mounting plate 81, and the edge of the second flange 822 is detachably connected to the mounting plate 81; and a spring 823, which is sleeved on the support column 821, with one end abutting against the side of the second flange 822 away from the mounting plate 81, and the other end abutting against the base 84 of the fixing fixture 80. During the pressing process, the load acting on the gear ring structure 200 is transmitted to the second flange 822 through the mounting plate 81, driving the second flange 822 to move along the support column 821 and compress the spring 823 to generate elastic clearance. After the inner planetary carrier 100 and the gear ring structure 200 are aligned and engaged, the spring 823 releases its elastic potential energy, pushing the second flange 822 to reset, thereby providing a reverse support force to the gear ring structure 200.

[0083] During actual assembly, when the press-fitting mechanism 10 drives the output shaft 40 to move the inner planetary carrier 100 towards the gear ring structure 200 and make end-face contact, if the inner planetary carrier 100 and the gear ring structure 200 have not yet completed their alignment and meshing, the axial load is transmitted through the gear ring structure 200 to the mounting plate 81, and then through the mounting plate 81 to the second flange 822, causing the second flange 822 to undergo axial displacement along the direction of the support column 821, thereby compressing the spring 823 and achieving elastic clearance. As the rotary drive mechanism 20 drives the output shaft 40 to rotate, the inner planetary carrier 100 gradually completes its alignment and meshing with the gear ring structure 200; after meshing is completed, the spring 823 releases its stored elastic potential energy under the action of its elastic restoring force, pushing the second flange 822 to move in the opposite direction along the support column 821, so that the mounting plate 81 and the gear ring structure 200 are reset, and continuously providing reverse support force in the subsequent press-fitting process.

[0084] In this embodiment, the guiding effect of the support column 821 on the second flange 822 ensures that the elastic support process proceeds axially, with a clear movement path, which helps improve structural stability and prevents displacement. Secondly, the connection between the second flange 822 and the mounting plate 81 allows the load to be effectively transferred to the spring 823, achieving a clear and controllable force path, thereby improving the consistency of the elastic relief response. Thirdly, the spring 823 provides a buffering effect during compression and reset, reducing the impact force in the misaligned state, and provides continuous support after engagement, helping to ensure the uniformity of force during the press-fitting process.

[0085] Therefore, by adopting an elastic support structure 82 consisting of a support column 821, a second flange 822, and a spring 823, this embodiment can provide flexible clearance during the alignment stage and stable support during the pressing stage, thereby taking into account both the buffering and stability of the assembly process and further improving the assembly quality and reliability.

[0086] Optionally, a stop 824 is provided at one end of the support column 821. The stop 824 cooperates with the second flange 822 to restrict the axial disengagement of the second flange 822. Specifically, the stop 824 can be provided at the end of the support column 821 away from the base 84 of the fixed tooling 80 to form an axial limiting structure, thereby restricting the range of movement of the second flange 822 on the support column 821.

[0087] In actual operation, when the inner planetary carrier 100 and the gear ring structure 200 are not aligned and engaged, the second flange 822 moves along the direction of the support column 821 under load and compresses the spring 823. After engagement, the spring 823 releases its elastic potential energy, pushing the second flange 822 to move in the opposite direction. During this reset process, if there is a lack of effective limiting, the second flange 822 may move excessively under the elastic force of the spring 823, or even detach from the support column 821. By setting a stop 824, the second flange 822 can be limited when reset to the predetermined position, thereby preventing it from continuing to detach axially.

[0088] Optionally, it also includes: a position detection switch 90, mounted on the fixed fixture 80, used to detect whether the gear ring is in position. The position detection switch is electrically connected to the control system and serves as one of the starting conditions for the assembly operation.

[0089] Specifically, the presence detection switch 90 can be arranged on or near the mounting plate 81 to detect the placement status of the gear ring structure 200. When the gear ring structure 200 is correctly placed in the predetermined position of the fixture 80, the presence detection switch 90 outputs a presence signal; when the gear ring structure 200 is not placed or its position is abnormal, it outputs an abnormal signal.

[0090] During actual assembly, the presence detection switch 90 can be linked with the control system. After detecting that the gear ring is in place, the pressing mechanism 10 and the rotary drive mechanism 20 are allowed to start, thus entering the alignment and pressing process. If no presence signal is detected, the assembly device remains stopped or issues a prompt to avoid malfunction. After assembly is completed, the presence detection switch 90 can also be used to assist in determining whether the workpiece has been removed, thereby controlling the assembly cycle.

[0091] This embodiment uses a position detection switch 90 to monitor the placement status of the gear ring in real time, effectively preventing the assembly process from starting when there is no workpiece or the workpiece is in an abnormal position, thus improving operational safety. Secondly, the position detection provides triggering conditions for subsequent actions, facilitating automated control of the assembly process and improving production efficiency.

[0092] For example, the device for assembling planetary gear assemblies provided in this embodiment can be used for the automatic assembly of the inner planetary carrier 100 and the gear ring structure 200 in a reducer or gearbox. Before assembly, the operator or upstream equipment places the gear ring structure 200 on the mounting plate 81 of the fixed fixture 80. The clamping mechanism drives the clamping plate 831 to move toward the gear ring structure 200 under the action of the drive cylinder 832, thereby clamping and fixing the gear ring structure 200. The presence detection switch 90 detects whether the gear ring is in position. When it is confirmed that the gear ring is in the predetermined position, the assembly device enters the working state.

[0093] Subsequently, the press-fit head 50 adsorbs and fixes the inner planetary carrier 100. Under the coordinated action of the press-fit mechanism 10 and the rotary drive mechanism 20, the output shaft 40 drives the press-fit head 50 and the inner planetary carrier 100 to move axially toward the gear ring structure 200. When the end face of the inner planetary carrier 100 contacts the end face of the gear ring structure 200, if the two have not yet completed meshing, the inner planetary carrier 100 cannot directly enter the gear ring structure 200 due to tooth interference. At this time, the rotary drive mechanism 20 drives the output shaft 40 to rotate around its axis, so that the inner planetary carrier 100 makes circumferential adjustments relative to the gear ring structure 200 in the contact state. During this process, the torque detection mechanism 30 detects the torque change of the output shaft 40 in real time to reflect the current meshing state.

[0094] When the inner planetary carrier 100 rotates to a suitable angle and engages with the gear ring structure 200, the force state of the output shaft 40 changes, and the torque detection mechanism 30 detects the corresponding torque change signal. At this time, the rotary drive stops, and the pressing mechanism 10 continues to drive the output shaft 40 to move axially, so that the inner planetary carrier 100 is gradually pressed into the gear ring structure 200 axially until the predetermined assembly position is reached. During the pressing process, the elastic support structure 82 in the fixed fixture 80 provides elastic clearance in the non-engaged stage and provides reverse support force after engagement, thereby making the entire pressing process more stable.

[0095] During the assembly process described above, the output shaft 40 and the output end 21 of the rotary drive mechanism form a coaxial transmission relationship through the connecting structure 60. This not only transmits rotational torque but also allows the output shaft 40 to move axially, ensuring that rotational alignment and press-fitting feed are completed on the same axis. Simultaneously, the rolling element 62 rolls within the receiving cavity 601, reducing the frictional resistance between the output shaft 40 and the sleeve 61 and improving the smoothness of movement. The first flange 63 further ensures a more reliable connection between the rotary drive mechanism 20 and the sleeve 61 and facilitates subsequent disassembly and maintenance.

[0096] After pressing is completed, the pressing mechanism 10 returns, the pressing head 50 releases its grip on the inner planetary carrier 100, and the clamping mechanism releases the gear ring structure 200, completing the assembly cycle of a planetary gear assembly. Throughout the process, the automatic alignment and stable pressing of the inner planetary carrier 100 and the gear ring structure 200 are achieved through the coordinated operation of the rotary drive mechanism 20, the pressing mechanism 10, and the torque detection mechanism 30, eliminating the need for additional manual gear alignment.

[0097] Based on the aforementioned application scenarios, this assembly device can automatically complete alignment even when the tooth profiles are misaligned, and perform press-fitting after engagement, effectively avoiding tooth surface damage caused by forced pressing in traditional assembly processes. Simultaneously, the elastic support structure 82 makes the force distribution during assembly more gentle, further improving assembly quality and stability. Furthermore, the device has a compact structure, a high degree of automation, and is suitable for mass production environments, helping to improve production efficiency and reduce labor costs.

[0098] 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. An apparatus for assembling planetary gear assemblies, characterized in that, include: A press-fitting mechanism, including an output shaft, for driving the output shaft to move axially; A rotary drive mechanism, the output end of which is connected to the output shaft for driving the output shaft to rotate around its axis; A torque detection mechanism is installed on the transmission path of the rotary drive mechanism to detect the torque during the rotation of the output shaft. The press head, located at the end of the output shaft, is used to drive the inner planetary carrier to rotate and move synchronously with the output shaft; The rotary drive mechanism drives the output shaft to rotate so that the inner planet carrier and the gear ring structure are aligned and meshed. When the torque detection mechanism detects the preset torque, the pressing mechanism drives the output shaft to move axially to complete the pressing.

2. The apparatus according to claim 1, characterized in that, The output shaft passes through the output end of the rotary drive mechanism and is coaxially arranged. The output shaft and the output end of the rotary drive mechanism are connected by a connecting structure.

3. The apparatus according to claim 2, characterized in that, The outer wall of the output shaft is constructed with multiple receiving grooves along the axial direction; the connection structure includes: The sleeve has multiple accommodating grooves along its inner wall along the axial direction. The accommodating grooves correspond one-to-one with the accommodating grooves and enclose each other to form an accommodating cavity. Rolling elements are disposed within the receiving cavity; The sleeve is installed at the output end of the rotary drive mechanism. The rotary drive mechanism drives the sleeve to rotate, thereby causing the output shaft to rotate around its axis. When the output shaft moves axially, the rolling element rolls within the receiving cavity, maintaining the transmission connection between the output shaft and the sleeve while allowing relative axial displacement.

4. The apparatus according to claim 3, characterized in that, The connection structure also includes: The first flange is fitted onto the outside of the sleeve. One end of the first flange is detachably connected to the output end of the rotary drive mechanism, and the other end is detachably connected to the sleeve.

5. The apparatus according to claim 1, characterized in that, The torque detection mechanism includes a torque sensor, which is located on the transmission path between the rotary drive mechanism and the output shaft. The torque sensor is used to detect the torque change when the output shaft rotates, so as to characterize the meshing state of the inner planetary carrier and the gear ring structure.

6. The apparatus according to claim 1, characterized in that, Also includes: The fixture includes a mounting plate and a flexible support structure. The mounting plate is equipped with a clamping mechanism for fixing the gear ring structure of the planetary gear assembly. During the press-fitting process, the elastic support structure is used to generate elastic clearance when the inner planetary carrier and the gear ring structure are not engaged, and to provide reverse support force.

7. The apparatus according to claim 6, characterized in that, The clamping mechanism includes: Clamping plates are used to hold the gear ring structure. A drive cylinder is mounted on the mounting plate. The output end of the drive cylinder is connected to the clamping plate and is used to drive the clamping plate to move toward or away from the gear ring structure to achieve clamping or loosening.

8. The apparatus according to claim 6, characterized in that, The elastic support structure includes: Support columns, which are inserted through the mounting plate; The second flange is sleeved on the support column and passes through the mounting plate, and the edge of the second flange is detachably connected to the mounting plate. A spring is fitted onto a support column, with one end abutting against the side of the second flange away from the mounting plate, and the other end abutting against the base of the fixing fixture. During the press-fitting process, the load acting on the gear ring structure is transmitted to the second flange through the mounting plate, driving the second flange to move along the support column and compress the spring to generate elastic relief; After the inner planetary carrier and the gear ring structure are aligned and engaged, the spring releases its elastic potential energy, pushing the second flange to reset, thereby providing a reverse support force to the gear ring structure.

9. The apparatus according to claim 8, characterized in that, One end of the support column is equipped with a stop, which cooperates with the second flange to restrict the axial disengagement of the second flange.

10. The apparatus according to any one of claims 1 to 9, characterized in that, Also includes: The presence detection switch is used to detect whether the gear ring is in place.

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