An automatic assembling device and assembling method for planetary gear assembly

Abstract

The application discloses a kind of planetary gear assembly automatic assembly equipment and assembly method, including gear assembly machine tool, gripper and side slide block are configured in assembly robot, one-way air passage is opened in the inside of gripper and side slide block and is penetrated, the output end of one-way air passage in gripper is connected with lifting pipe by connecting air pipe, hollow piston is elastically connected in lifting pipe, lifting pipe side is equipped with the one-way interface being communicated with lubricating liquid supply tank and spray head;When assembling, suction unit lifts negative pressure, airflow is pushed hollow piston extruding lubricating liquid and is atomized and sprayed via spray head, synchronously lubricates tooth surface in the process that gear is lowered and engages, effectively reduces rigid friction wear, avoids that metal scrap is embedded in tooth gap, simultaneously, negative pressure drives the extension of correction piece in side slide block and is embedded in tooth to complete circumferential angle correction and auxiliary clamping, and make correction strip automatic separation by ejector rod, avoid interference subsequent press fitting, ensure the consistency and reliability of multi-specification planetary gear assembly assembly.

Description

Technical Field

[0001] This invention relates to the field of machining technology, specifically to an automatic assembly equipment and method for planetary gear assemblies. Background Technology

[0002] Planetary gear assemblies, as core transmission components with compact structure, high transmission efficiency, and strong torque carrying capacity, are widely used in many fields such as new energy vehicle transmission systems, industrial robot joints, engineering machinery walking mechanisms, wind power generator sets, and precision automation equipment. With the continuous advancement of the global intelligent manufacturing industry and the steady expansion of downstream end-market demand, the transmission component manufacturing field has put forward standardized and large-scale development requirements for the production efficiency, assembly accuracy, and batch consistency of planetary gear assemblies. Conventional planetary gear assembly automatic assembly equipment integrates automatic feeding, precision positioning, press fitting, meshing calibration, and finished product inspection functions around the assembly process of core components such as sun gear, planet gears, internal gear ring, and planet carrier. Relying on automation control technology and precision sensing detection methods, it realizes the continuous and standardized operation of the assembly process. It can adapt to the production needs of various specifications and models of planetary gear assemblies and is a key process equipment to support the industrial mass production of planetary gear transmission components.

[0003] However, existing conventional planetary gear assembly automatic assembly equipment requires the workpiece to be rotated at a constant speed through a gear clamping structure to complete the meshing and alignment between the gear teeth during the assembly operation. During this process, the tooth surface will experience varying degrees of rigid friction and may generate a certain amount of metal debris. Such debris may be embedded in the tooth gap during the assembly process, which will ultimately have an adverse effect on the meshing transmission performance and service life of the gear pair.

[0004] Therefore, an automated assembly equipment and assembly method for planetary gear assemblies are proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic assembly equipment and method for planetary gear assemblies, so as to solve the problem mentioned in the background art that friction generates debris during the assembly of planetary gear assemblies, which affects the transmission performance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic assembly equipment for planetary gear assemblies, comprising;

[0007] A gear assembly machine tool, the gear assembly machine tool including an assembly robot and grippers and side slides configured inside the assembly robot;

[0008] Both the gripper and the side slider have a one-way air passage running straight through their interiors.

[0009] The one-way air outlet inside the gripper is connected to the connecting air pipe via a pipeline, and the lower end of the connecting air pipe is rigidly connected to a hanging pipe. Inside the hanging pipe, a cross-shaped hollow piston is elastically connected with a first spring. At least one one-way input and one-way output interface is configured on the upper side of the hanging pipe, and is connected to the lubricant supply tank and the nozzle respectively through the one-way input and one-way output interfaces.

[0010] Preferably, the assembly robot is configured with a multi-axis drive structure, and an air extraction channel is provided at the lower part of the assembly robot's operating arm. One end of the air extraction channel is connected to the suction unit configured in the assembly robot via a pipeline. Multiple L-shaped branches are arranged in a ring array along the axis from the lower end of the air extraction channel inside the assembly robot. A clamping piston is elastically connected to the inside of the branch with a return spring. The rod end of the clamping piston is rigidly connected to a gripper and a side slider that are linearly defined inside a limiting groove. The limiting groove is openly located at the lower part of the assembly robot's operating arm.

[0011] Preferably, a one-way valve that opens in the one-way input direction is configured on the path of the one-way air passage, and the opening pressure of the one-way valve is greater than the deformation force of the return spring.

[0012] Preferably, the hollow piston is made of a lightweight hollow material, and the upper rod end is sealed and inserted into the interior of the connecting air pipe.

[0013] Preferably, the one-way airway output end inside the side slider is connected to the stepped auxiliary clamping hole and the insertion tube that are opened axially at the end of the guide rod arm. The auxiliary clamping hole is elastically connected to an extension piston with a third spring, and the rod end of the extension piston passes through the auxiliary clamping hole and is rigidly connected to the upper end of the corrective plate. The corrective plate and the guide rod are also provided with telescopic insertion rods that are linearly defined on both sides of the extension piston. The corrective plate is composed of an L-shaped rod and an angled piece that is detachably connected to the rod end. The angled piece is adapted to the teeth and grooves of the gear. The surfaces of the connecting air tube and the guide rod are provided with solenoid valves for actively depressurizing the inside of the tube and the auxiliary clamping hole.

[0014] Preferably, the guide rod is rigidly connected to the lower surface of the side slider, and the insertion tube is inserted and fixed inside the guide rod at a position close to the height of the gripper body. The insertion tube is elastically connected to a push rod with a second spring inside. After the push rod passes through the insertion tube towards the assembly robot's axis, it extends to a position adjacent to the corresponding vertical plate. The corresponding vertical plate is rigidly connected to the side of the lower surface of the side slider near the assembly robot's axis. The lower end of the corresponding vertical plate is connected to a straightening strip with a spring hinge. The surface of the corresponding vertical plate has a window that allows the push rod to pass through, which is open on the upper side of the spring hinge. The side of the straightening strip near the assembly robot's axis is rigidly connected to an L-shaped upwardly extending push plate, and the push plate is exposed at the open window on the surface of the corresponding vertical plate corresponding to the push rod.

[0015] An automated assembly method for planetary gear assemblies comprises the following steps:

[0016] S1. In the initial state, the reset spring, the first spring, the second spring and the third spring are all in a naturally extended state. The clamping piston drives the jaw and the side slider to be located at the outer limit position of the limiting groove. The hollow piston is located below the inside of the hanging tube under the support of the first spring. The push rod is retracted into the insertion tube under the action of the second spring. The straightening bar is in the initial posture of natural hanging under the action of the spring hinge.

[0017] S2. Before the assembly operation, the assembly robot moves to the top of the loading station and descends to the preset clamping height. After the gear workpiece to be assembled is transported to the positioning fixture by the loading mechanism and the axial and circumferential initial positioning is completed, the suction unit configured on the assembly robot starts and performs vacuuming operation on the suction channel. After the negative pressure is formed inside the suction channel, it first acts on each clamping piston through the L-shaped support channels distributed in a ring array, so that the clamping piston overcomes the elastic force of the return spring and moves along the support channel towards the shaft core. This drives the gripper and the side slider, which are limited in the limited slide groove, to retract inward synchronously, completing the initial radial clamping and positioning of the planetary gear workpiece.

[0018] S3. During this process, the moving side slider will drive the corresponding vertical plate to move towards the gear. The straightening strip at the lower end of the corresponding vertical plate will press the teeth on the side of the gear, so that the straightening strip and the tooth groove of the gear will mesh and match, completing the correction of the initial clamped gear. Then the assembly robot will move the clamped gear to the center position of the planetary gear device and push it down steadily.

[0019] S4. During the downward push of the gear, when it coincides with the outer gear of the planetary gear device on the plane, the suction unit configured by the assembly robot further increases the suction power. As the negative pressure in the suction channel continues to rise, when the pressure difference exceeds the opening pressure of the one-way valve in the one-way channel, the one-way valve opens and conducts, and the negative pressure airflow is conducted to the two functional branches through the one-way channels inside the gripper and the side slider respectively.

[0020] S5. One airflow enters the hanging pipe through the connecting air pipe, acts on the hollow piston made of lightweight hollow material and makes it move upward against the elastic force of the first spring, squeezing the lubricating fluid inside the hanging pipe, so that the lubricating oil enters the nozzle through the one-way output interface and is atomized and sprayed out. During the gear descending meshing and alignment assembly process, the gear surface is simultaneously lubricated and the wear is reduced, so as to avoid metal debris being stuck in the tooth gap and affecting the transmission performance.

[0021] S6. Another airflow is introduced into the stepped auxiliary clamping hole and the insertion tube at the end of the guide rod arm through the pipe inside the side slider. The negative pressure entering the auxiliary clamping hole acts on the extension piston, causing it to overcome the elastic force of the third spring and drive the straightening plate to move towards the gear side. The angled plate that matches the gear teeth and tooth grooves is embedded between the teeth to complete the circumferential angle correction and auxiliary clamping, ensuring the meshing alignment accuracy during gear assembly. The telescopic insertion rod configured between the straightening plate and the guide rod limits the extension process in a straight line to prevent the straightening plate from deflecting.

[0022] S7. The negative pressure entering the cannula acts on the push rod, causing it to overcome the elastic force of the second spring and move towards the corresponding vertical plate. After the push rod passes through the open window on the surface of the corresponding vertical plate, it pushes against the push plate, causing the straightening bar to separate from the spring hinge and gear.

[0023] S8. Then, after the assembly robot transfers the clamped gear to the outer planetary gears, it can control the suction unit configured on the assembly robot to stop working. At the same time, the solenoid valve connecting the air pipe and the guide rod surface opens to actively release pressure inside the pipe, the insertion tube and the auxiliary clamping hole. The return spring, the first spring, the second spring and the third spring rebound and reset synchronously, causing the gripper and the side slider to loosen outward, the straightening plate and the straightening swing plate to retract synchronously, the hollow piston falls back and resets, a negative pressure is formed inside the hanging pipe and lubricating oil is replenished from the lubricating oil supply tank through the one-way input interface, preparing for the next oil spraying operation. The entire device returns to the initial state, thus completing the release of the workpiece and the standby reset of the device.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. This invention uses a one-way air passage inside the side slider to connect the auxiliary clamping hole, insert, push rod, co-positioning vertical plate and straightening strip of the guide rod. The negative pressure drives the extension piston to drive the straightening strip to extend and embed between the teeth to complete the circumferential angle correction and auxiliary clamping. At the same time, the push rod pushes the push plate to make the straightening strip automatically separate before it is placed in place after the gear is corrected. This ensures the meshing alignment accuracy during gear assembly and avoids the straightening structure from interfering with the subsequent pressing process, thereby improving the consistency and reliability of multi-specification planetary gear assembly.

[0026] 2. This invention, through the arrangement of the gripper and the internal one-way air passage of the side slider, the connecting air pipe, the hanging pipe, the hollow piston and the nozzle, when the suction unit increases the negative pressure, the airflow pushes the hollow piston through the one-way air passage to squeeze the lubricating fluid and spray it out through the nozzle. This allows the gear tooth surface to be synchronously lubricated during the descent meshing and alignment assembly process, effectively reducing rigid friction wear, and preventing metal debris from being generated by dry friction and stuck in the tooth gap, thereby significantly improving the meshing transmission performance and service life of the gear pair. Attached Figure Description

[0027] Figure 1This is a three-dimensional structural diagram of the present invention;

[0028] Figure 2 This is a partial schematic diagram of the gear assembly machine tool of the present invention;

[0029] Figure 3 This is a partial cross-section of the gear assembly machine tool of the present invention. Figure 1 ;

[0030] Figure 4 This is a partial cross-section of the gear assembly machine tool of the present invention. Figure 2 ;

[0031] Figure 5 This is a partial structural disassembly diagram of the gear assembly machine tool of the present invention;

[0032] Figure 6 For the present invention Figure 3 Enlarged view of point A in the middle;

[0033] Figure 7 For the present invention Figure 3 Enlarged view at point B in the middle;

[0034] Figure 8 For the present invention Figure 4 Enlarged view at point C;

[0035] Figure 9 For the present invention Figure 4 Enlarged view of point D in the middle.

[0036] In the picture:

[0037] 1. Gear assembly machine tool;

[0038] 11. Assembly robot; 111. Air extraction duct; 112. Limiting slide; 113. Return spring; 114. Clamping piston;

[0039] 12. Gripper; 121. Connecting air pipe; 122. Hanging pipe; 123. Nozzle; 124. First spring; 125. Hollow piston;

[0040] 13. Side slider; 131. One-way airway; 132. Guide rod; 1321. Auxiliary clamping hole; 1322. Solenoid valve; 1323. Third spring; 1324. Extension piston; 1325. Correcting plate; 133. Insertion tube; 1331. Second spring; 1332. Push rod; 134. Corresponding vertical plate; 1341. Correcting strip; 1342. Pushing plate. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] Please see Figures 1 to 9 This invention provides a technical solution for an automated assembly device and method for planetary gear assemblies:

[0043] An automated assembly device for planetary gear assemblies includes:

[0044] Gear assembly machine tool 1 is used in production lines for equipment such as new energy vehicle transmission systems, industrial robot joints, engineering machinery walking mechanisms, and wind power generator sets.

[0045] The gear assembly machine tool 1 includes an assembly robot 11, which is configured with a multi-axis drive structure. An air extraction channel 111 is provided in the lower part of the operating arm of the assembly robot 11. One end of the air extraction channel 111 is connected to a suction unit configured in the assembly robot 11 via a pipeline. Multiple L-shaped branches are arranged in a ring array along the shaft core from the lower end of the air extraction channel 111 inside the assembly robot 11. A clamping piston 114 is elastically connected to the inside of the branch with a return spring 113. The rod end of the clamping piston 114 is rigidly connected to a gripper 12 and a side slider 13 that are linearly defined inside a limiting slide groove 112. The limiting slide groove 112 is openly located in the lower part of the operating arm of the assembly robot 11.

[0046] Both the gripper 12 and the side slider 13 have a one-way air passage 131 running through them in a straight line. A one-way valve that opens in the one-way input direction is arranged on the path of the one-way air passage 131. The opening pressure of the one-way valve is greater than the deformation force of the return spring 113.

[0047] The output end of the one-way air passage 131 inside the gripper 12 is connected to the connecting air pipe 121 through a pipeline, and the lower end of the connecting air pipe 121 is rigidly connected to the hanging pipe 122. The inside of the hanging pipe 122 is elastically connected to the cross-shaped hollow piston 125 with the first spring 124. The hollow piston 125 is made of lightweight hollow material, and the upper rod end is sealed and inserted into the inside of the connecting air pipe 121. At least one one-way input and one-way output interface (one-way valve) is arranged on the upper side of the hanging pipe 122, and is connected to the lubricating fluid supply tank and the nozzle 123 through the one-way input and one-way output interfaces respectively. The nozzle 123 is configured as a liquid spray structure with adjustable tube body.

[0048] During operation, the assembly robot 11 moves above the loading station and descends to the preset clamping height. After the gear workpiece is conveyed to the positioning fixture by the loading mechanism and the initial axial and circumferential positioning is completed, the suction unit is activated to evacuate the suction channel 111. The negative pressure acts on the clamping piston 114 through the L-shaped branch channel of the annular array, causing it to overcome the elastic force of the return spring 113 and move towards the shaft core. This drives the gripper 12 and the side slider 13 in the limiting slide groove 112 to synchronously retract inward, completing the initial radial clamping and positioning of the gear. The assembly robot 11 then moves the clamped gear to the center of the planetary gear device and pushes it downward steadily. When the straightening plate 1325 aligns with the outer gear of the planetary gear device... When the planes coincide, the suction unit increases the suction power, and the negative pressure in the suction channel 111 continues to rise. When the pressure difference exceeds the opening pressure of the one-way valve in the one-way channel 131, the one-way valve is opened, and the negative pressure airflow is conducted in two paths through the one-way channel 131 inside the gripper 12 and the side slider 13. One path of airflow enters the hanging pipe 122 through the connecting air pipe 121, pushing the hollow piston 125 to move upward against the elastic force of the first spring 124, squeezing the lubricating fluid inside the hanging pipe 122, so that the lubricating oil enters the nozzle 123 through the one-way output interface and is atomized and sprayed out. During the gear descending meshing and alignment assembly process, the tooth surface is lubricated simultaneously, wear is reduced, and metal debris is prevented from being embedded in the tooth gap and affecting the transmission performance.

[0049] In summary, by configuring the one-way air passage 131 inside the gripper 12 and the side slider 13, the connecting air pipe 121, the hanging pipe 122, the hollow piston 125, and the nozzle 123, when the suction unit increases the negative pressure, the airflow pushes the hollow piston 125 through the one-way air passage 131 to squeeze the lubricating fluid and atomizes it through the nozzle 123. This allows the gear teeth to be synchronously lubricated during the descent meshing and alignment assembly process, effectively reducing rigid friction wear and preventing metal debris from being generated by dry friction and embedded in the tooth gap. This significantly improves the meshing transmission performance and service life of the gear pair.

[0050] As one embodiment of the present invention, such as Figures 1 to 7As shown, the one-way airway 131 inside the side slider 13 is connected to the tube and the stepped auxiliary clamping hole 1321 and the insertion tube 133, which are axially opened at the end of the guide rod 132. The auxiliary clamping hole 1321 is elastically connected to an extension piston 1324 via a third spring 1323. The rod end of the extension piston 1324 extends through the auxiliary clamping hole 1321 and is rigidly connected to the upper end of the corrective plate 1325. A linearly defined telescopic insertion rod is also provided on both sides of the extension piston 1324 between the corrective plate 1325 and the guide rod 132. The corrective plate 1325 consists of an L-shaped rod and an angled piece detachably connected to the rod end. The angled piece is adapted to the teeth and grooves of a gear. Solenoid valves 1322 are provided on the surfaces of the connecting air tube 121 and the guide rod 132 to actively depressurize the inside of the tube and the auxiliary clamping hole 1321. The guide rod 132 is rigidly connected to the lower surface of the side slider 13, and the insertion... The tube 133 is inserted and fixed inside the guide rod 132 at a position close to the height of the gripper 12. The tube 133 is elastically connected to the push rod 1332 with the second spring 1331. The push rod 1332 extends from the tube 133 towards the axis of the assembly robot 11 and extends to a position adjacent to the vertical plate 134. The vertical plate 134 is rigidly connected to the side of the lower surface of the side slider 13 near the axis of the assembly robot 11. The lower end of the vertical plate 134 is connected to the straightening strip 1341 with the spring hinge. The surface of the vertical plate 134 is open to the push rod 1332 on the upper side of the spring hinge, allowing it to pass through. The straightening strip 1341 is rigidly connected to the L-shaped upward extending push plate 1342 on the side of the straightening strip 1341 near the axis of the assembly robot 11. The push plate 1342 is exposed at the open window on the surface of the vertical plate 134, corresponding to the push rod 1332.

[0051] During operation, the side slider 13 drives the corresponding vertical plate 134 to move towards the gear side. The straightening strip 1341 at the lower end of the corresponding vertical plate 134 engages with the gear tooth groove, completing the circumferential posture correction of the even-numbered gear. The assembly robot 11 moves the clamped sun gear to the center of the planetary gear device and pushes it down stably. When the straightening plate 1325 coincides with the outer gear plane, the suction unit increases the suction power, and the negative pressure in the suction channel 111 rises to the opening pressure of the one-way valve in the one-way channel 131. The one-way valve opens, and the negative pressure airflow is conducted in two paths through the one-way channel 131. One path is introduced into the auxiliary clamping hole 1321 at the end of the guide rod 132. The negative pressure acts on the extension The piston 1324 overcomes the elastic force of the third spring 1323 and drives the straightening plate 1325 to extend towards the gear side, embedding it between the teeth to complete circumferential angle correction and auxiliary clamping. The telescopic insertion rod between the straightening plate 1325 and the guide rod 132 restricts linear displacement and prevents the straightening plate 1325 from deflecting. Another inlet tube 133 applies negative pressure to the push rod 1332, causing it to overcome the elastic force of the second spring 1331 and move towards the corresponding vertical plate 134. The push rod 1332 passes through the window of the corresponding vertical plate 134 and pushes against the push plate 1342, causing the straightening strip 1341 to swing and separate from the gear around the spring hinge. After the gear is assembled between the planetary gears, the suction unit stops working.

[0052] In summary, by connecting the auxiliary clamping hole 1321, insertion tube 133, push rod 1332, co-positioning vertical plate 134, and straightening strip 1341 of the guide rod 132 through the one-way air passage 131 inside the side slider 13, the negative pressure drives the extension piston 1324 to drive the straightening plate 1325 to extend and embed between the teeth to complete circumferential angle correction and auxiliary clamping. At the same time, the push rod 1332 pushes the push plate 1342 to automatically separate the straightening strip 1341 before it is placed in place after the gear is straightened. This not only ensures the meshing alignment accuracy during gear assembly, but also avoids the interference of the straightening structure with the subsequent pressing process, thereby improving the consistency and reliability of multi-specification planetary gear assembly.

[0053] An automated assembly method for planetary gear assemblies comprises the following steps:

[0054] S1. In the initial state, the reset spring 113, the first spring 124, the second spring 1331 and the third spring 1323 are all in a naturally extended state. The clamping piston 114 drives the jaw 12 and the side slider 13 to be located at the outer limit position of the limiting groove 112. The hollow piston 125 is located below the inside of the hanging tube 122 under the support of the first spring 124. The push rod 1332 retracts into the insertion tube 133 under the action of the second spring 1331. The straightening strip 1341 is in the initial posture of natural hanging under the action of the spring hinge.

[0055] S2. Before the assembly operation, the assembly robot 11 moves to the top of the loading station and descends to the preset clamping height. After the gear workpiece to be assembled is transported to the positioning fixture by the loading mechanism and the axial and circumferential initial positioning is completed, the suction unit configured in the assembly robot 11 starts and performs vacuuming operation on the suction channel 111. After the negative pressure is formed inside the suction channel 111, it first acts on each clamping piston 114 through the L-shaped branch channel distributed in the ring array, so that the clamping piston 114 overcomes the elastic force of the return spring 113 and moves along the branch channel towards the direction closer to the shaft core, thereby driving the gripper 12 and the side slider 13 limited in the limiting slide groove 112 to retract inward synchronously, completing the initial radial clamping and positioning of the planetary gear workpiece.

[0056] S3. During this process, the moving side slider 13 will drive the corresponding vertical plate 134 to move towards the gear. The straightening strip 1341 at the lower end of the corresponding vertical plate 134 will press the teeth on the side of the gear, so that the straightening strip 1341 meshes with the tooth groove of the gear, completing the correction of the initially clamped gear (even teeth). Then the assembly robot 11 will move the clamped gear (sun gear) to the center position of the planetary gear device and push it down stably.

[0057] S4. During the downward pushing of the gear, when the straightening plate 1325 and the outer gear of the planetary gear device coincide on the plane, the suction unit configured in the assembly robot 11 further increases the suction power. As the negative pressure in the suction channel 111 continues to rise, when the pressure difference exceeds the opening pressure of the one-way valve in the one-way channel 131, the one-way valve opens and conducts, and the negative pressure airflow is conducted to the two functional branches through the one-way channel 131 inside the gripper 12 and the side slider 13 respectively.

[0058] S5. One airflow enters the inside of the hanging pipe 122 through the connecting air pipe 121, acts on the hollow piston 125 made of lightweight hollow material and makes it move upward against the elastic force of the first spring 124, squeezing the lubricating oil inside the hanging pipe 122, so that the lubricating oil enters the nozzle 123 through the one-way output interface and is atomized and sprayed out. During the gear descending meshing and alignment assembly process, the gear surface is simultaneously lubricated and the wear is reduced, so as to avoid metal debris being stuck in the tooth gap and affecting the transmission performance.

[0059] S6. Another airflow is introduced into the stepped auxiliary clamping hole 1321 and the insertion tube 133 at the end of the guide rod 132 through the pipe inside the side slider 13. The negative pressure entering the auxiliary clamping hole 1321 acts on the extension piston 1324, which overcomes the elastic force of the third spring 1323 and drives the straightening plate 1325 to move towards the gear side. The angled plate that matches the gear teeth and tooth grooves is embedded between the teeth to complete the circumferential angle correction and auxiliary clamping, ensuring the meshing alignment accuracy during gear assembly. The telescopic insertion rod configured between the straightening plate 1325 and the guide rod 132 limits the extension process in a straight line to prevent the straightening plate 1325 from deflecting.

[0060] S7. The negative pressure entering the insertion tube 133 acts on the push rod 1332, causing it to overcome the elastic force of the second spring 1331 and move towards the corresponding vertical plate 134. After the push rod 1332 passes through the open window on the surface of the corresponding vertical plate 134, it pushes against the push plate 1342, causing the straightening strip 1341 (the height of which is less than the tooth height of the gear) to swing and separate from the gear around the spring hinge.

[0061] S8. Then, after the assembly robot 11 transfers the clamped gear to the outer planetary gear, the suction unit configured on the assembly robot 11 can be controlled to stop working. At the same time, the solenoid valve 1322 connecting the air pipe 121 and the guide rod 132 opens to actively release pressure inside the pipe, the insertion pipe 133 and the auxiliary clamping hole 1321. The reset spring 113, the first spring 124, the second spring 1331 and the third spring 1323 rebound and reset synchronously, causing the gripper 12 and the side slider 13 to loosen outward, the straightening plate 1325 and the straightening strip 1341 to retract synchronously, the hollow piston 125 falls back and resets, a negative pressure is formed inside the hanging pipe 122 and lubricating oil is replenished from the lubricating oil supply tank through the one-way input interface, preparing for the next oil spraying operation. The entire device returns to the initial state, thus completing the release of the workpiece and the standby reset of the device.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated assembly device for planetary gear assemblies, comprising: Gear assembly machine tool (1), the gear assembly machine tool (1) includes an assembly robot (11) and grippers (12) and side slides (13) configured inside the assembly robot (11). Its features are: The gripper (12) and the side slider (13) are both provided with a one-way air passage (131) running straight through their interiors. The output end of the one-way air passage (131) inside the gripper (12) is connected to the connecting air pipe (121) through a pipeline, and the lower end of the connecting air pipe (121) is rigidly connected to the hanging pipe (122). The inside of the hanging pipe (122) is elastically connected to the cross-shaped hollow piston (125) through the first spring (124). At least one one-way input and one-way output interface is arranged on the upper side of the hanging pipe (122), and it is connected to the lubricating fluid supply tank and the nozzle (123) through the one-way input and one-way output interface respectively.

2. The automatic assembly equipment for planetary gear assemblies according to claim 1, characterized in that: The assembly robot (11) is configured with a multi-axis drive structure, and an air extraction channel (111) is provided at the bottom inside the operating arm of the assembly robot (11). One end of the air extraction channel (111) is connected to the suction unit configured in the assembly robot (11) through a pipeline. Multiple L-shaped branches are arranged in a ring array along the axis from the bottom end of the air extraction channel (111) inside the assembly robot (11). The clamping piston (114) is elastically connected to the inside of the branch with a reset spring (113). The rod end of the clamping piston (114) is rigidly connected to the gripper (12) and the side slider (13) which are linearly limited inside the limiting slide (112). The limiting slide (112) is openly located at the bottom inside the operating arm of the assembly robot (11).

3. The automatic assembly equipment for planetary gear assemblies according to claim 1, characterized in that: The one-way air passage (131) is equipped with a one-way valve that opens in the one-way input direction, and the opening pressure of the one-way valve is greater than the deformation force of the return spring (113).

4. The automatic assembly equipment for planetary gear assemblies according to claim 1, characterized in that: The hollow piston (125) is made of lightweight hollow material, and the upper rod end is sealed and inserted into the interior of the connecting air pipe (121).

5. The automatic assembly equipment for planetary gear assemblies according to claim 1, characterized in that: The one-way airway (131) inside the side slider (13) is connected to the tube and the stepped auxiliary clamping hole (1321) and the insertion tube (133) opened axially at the end of the guide rod (132). The auxiliary clamping hole (1321) is elastically connected to the extension piston (1324) with the third spring (1323) inside. The rod end of the extension piston (1324) passes through the auxiliary clamping hole (1321) and is rigidly connected to the upper end of the correction piece (1325). The corrective plate (1325) and the guide rod (132) are further provided with telescopic inserts that are linearly defined on both sides of the extension piston (1324). The corrective plate (1325) is composed of an L-shaped rod and an angled piece that is detachably connected to the end of the rod. The angled piece is adapted to the teeth and grooves of the gear. The surfaces of the connecting air tube (121) and the guide rod (132) are both provided with solenoid valves (1322) for actively depressurizing the inside of the tube and the auxiliary clamping hole (1321).

6. An automatic assembly equipment for planetary gear assemblies according to claim 5, characterized in that: The guide rod (132) is rigidly connected to the lower surface of the side slider (13), and the insertion tube (133) is inserted and fixed inside the guide rod (132) at a position close to the height of the gripper (12). The insertion tube (133) is elastically connected to the push rod (1332) with the second spring (1331). The push rod (1332) extends from the insertion tube (133) towards the axis of the assembly robot (11) and then extends to a position adjacent to the corresponding vertical plate (134). The corresponding vertical plate (134) is rigidly connected to the lower surface of the side slider (13). On the side near the shaft of the assembly robot (11), a straightening strip (1341) is connected to the lower end of the vertical plate (134) with a spring hinge. The surface of the vertical plate (134) is open to the top rod (1332) on the upper side of the spring hinge, allowing passage. The straightening strip (1341) is rigidly connected to an L-shaped upwardly extending top plate (1342) on the side near the shaft of the assembly robot (11). The top plate (1342) is exposed at the open window on the surface of the vertical plate (134) corresponding to the top rod (1332).

7. A method for automatic assembly of planetary gear assemblies, characterized in that, The automatic assembly equipment for planetary gear assemblies according to any one of claims 1-6 comprises the following steps: S1. The return spring (113), the first spring (124), the second spring (1331) and the third spring (1323) are all naturally extended, the gripper (12) and the side slider (13) are located at the outer limit position of the limiting groove (112); the hollow piston (125) is located below the hanging tube (122), the push rod (1332) is retracted into the insertion tube (133), and the straightening strip (1341) hangs down naturally; S2. The assembly robot (11) moves down above the gear station and starts the suction unit. The negative pressure drives the clamping piston (114) through the L-shaped branch of the suction channel (111), which drives the gripper (12) and the side slider (13) to retract inward, completing the initial radial clamping of the gear. S3. While clamping, the side slider (13) drives the corresponding vertical plate (134) and the straightening strip (1341) to move toward the gear. The straightening strip (1341) meshes with the tooth groove to perform circumferential correction on the even-numbered gear. Then the gear is moved to the center of the planetary carrier and pushed downward. S4. When the gear is pushed to coincide with the outer gear ring plane, the suction power is increased and the negative pressure reaches the opening pressure of the one-way valve in the one-way air passage (131). The airflow is divided into two paths through the one-way air passage (131). S5. A stream of air enters the hanging pipe (122) through the connecting air pipe (121), pushing the hollow piston (125) upward to squeeze the lubricating fluid, which is then atomized and sprayed out through the nozzle (123) to simultaneously lubricate the gear surface during the gear's descent and meshing process; S6. Another airflow is introduced into the stepped auxiliary clamping hole (1321) and the insertion tube (133) at the end of the guide rod (132) along the inner pipe of the side slider (13), driving the extension piston (1324) to move the correction piece (1325) towards the gear side. The angled piece is embedded between the teeth to complete the circumferential angle correction and auxiliary clamping. The telescopic insertion rod limits the direction of movement. S7. At the same time, the negative pressure inside the cannula (133) pushes the push rod (1332) through the open window on the surface of the corresponding vertical plate (134) and pushes the push plate (1342), causing the straightening strip (1341) to swing around the spring hinge and separate from the gear; S8. After the gears are assembled, stop suction and open the solenoid valve (1322) to actively release pressure. The reset spring (113), the first spring (124), the second spring (1331) and the third spring (1323) are reset synchronously. The gripper (12), the side slider (13), the straightening plate (1325) and the straightening strip (1341) are retracted. The hollow piston (125) falls back and lubricating oil is added through the one-way input interface. The device returns to the initial standby state.

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