Gear assembly adjustment mechanism

Abstract

The utility model provides a gear assembly adjustment mechanism, include: base and install one servo drive unit and a plurality of gear assembly unit on the base, a plurality of gear assembly unit separate setting, each gear assembly unit includes detachable connection's rotation component and suction head subassembly, and suction head subassembly is used for utilizing negative pressure to suck gear, servo drive unit includes the servo motor, speed reducer and motion transmission mechanism who connects in proper order, motion transmission mechanism still is connected with a plurality of gear assembly unit's rotation component, servo drive unit is used for driving a plurality of gear assembly unit rotation to make the gear that is sucked by suction head subassembly rotates along with. Like this, can realize the automatic assembly of many gears, and greatly simplifies the assembly structure, can also reduce the difficulty of grabbing gear, and the assembly of compatible different specifications gear is also promoted, and the compatibility is improved.

Description

Technical Field

[0001] This utility model belongs to the field of multi-gear assembly technology, and specifically relates to a gear assembly adjustment mechanism. Background Technology

[0002] Gears are widely used in modern industry, from toy cars to large trucks. Gear assembly has always been a challenging aspect of the industry. Although automation is increasing, traditional multi-gear assembly processes still present several problems: 1. High meshing precision is required during multi-gear assembly, leading to complex assembly structures; 2. Limited installation space makes it difficult to operate the assembly structure within a confined space, resulting in difficulty in gear handling; 3. Gears are easily damaged during assembly, and real-time monitoring is costly; 4. It cannot assemble gears of different specifications, resulting in poor compatibility. Utility Model Content

[0003] The purpose of this utility model is to provide a gear assembly and adjustment mechanism, which aims to solve one or more of the above-mentioned technical problems existing in traditional multi-gear assembly.

[0004] To achieve the above objectives, this utility model provides a gear assembly and adjustment mechanism, which includes: a base; and a servo drive unit and multiple gear assembly units mounted on the base;

[0005] Multiple gear assembly units are separately arranged, each gear assembly unit includes a detachably connected rotating component and a suction head component, and each gear assembly unit is used to pick up gears by negative pressure through its suction head component;

[0006] The servo drive unit includes a servo motor, a reducer, and a motion transmission mechanism connected in sequence; the motion transmission mechanism is also connected to the rotating components of the multiple gear assembly units.

[0007] The servo drive unit is used to drive the multiple gear assembly units to rotate, so that the gears picked up by the suction head assembly rotate along with them.

[0008] Optionally, the gear assembly adjustment mechanism further includes multiple detection units mounted on the base; the multiple detection units are arranged in a one-to-one correspondence with the multiple gear assembly units; each detection unit is used to detect the position of a corresponding gear assembly unit and output the position information of the gear assembly unit to the outside.

[0009] Optionally, each of the detection units includes a position sensor and a sensor support; the sensor support is mounted on the base; the position sensor is mounted on the sensor support to detect the position of the detection block of the rotating assembly; the position sensor is a proximity switch.

[0010] Optionally, the rotating assembly includes a floating spring and a bearing seat, a rotating shaft, and a floating rod arranged sequentially from the outside to the inside; the bearing seat is mounted on the base to support the rotating shaft; the rotating shaft is connected to the motion transmission mechanism to rotate around its own axis under the drive of the motion transmission mechanism; the floating rod is capable of sliding relative to the rotating shaft along the axial direction; the floating spring is sleeved on the floating rod and is limited in the axial direction between the bearing seat and the floating rod; the bottom end of the floating rod is quickly connected to the suction head assembly.

[0011] Optionally, the rotating component also satisfies at least one of the following conditions:

[0012] The bottom end of the floating rod is provided with an installation interface, which is connected to the top end of the suction head body of the suction head assembly through a concave-convex fit, and the floating rod and the suction head body are locked by a quick-release locking structure;

[0013] The rotating assembly also includes a height adjusting nut mounted on the floating rod, the height adjusting nut being used to adjust the compression of the floating spring;

[0014] The top of the floating rod is equipped with a detection block;

[0015] The top of the floating rod is provided with a rotatable joint, and the rotatable joint is used to install a negative pressure pipeline;

[0016] A locking nut is installed on the rotating shaft, and the locking nut locks the driven synchronous wheel of the motion transmission mechanism. The driven synchronous wheel is used to drive the rotating shaft to rotate around its own axis.

[0017] Optionally, the suction head assembly includes a suction head body and a positioning structure disposed within the suction head body; the bottom end of the suction head body is used to pick up the gear; the top end of the suction head body is quickly connected to the rotating assembly; the positioning structure is used to insert into the central hole of the gear and seal the central hole.

[0018] Optionally, the positioning structure includes a positioning spring and a positioning pin, with the positioning spring sleeved on the positioning pin; the positioning pin is used to insert into the center hole of the gear under the action of the positioning spring and to seal the center hole.

[0019] Optionally, the suction head body includes a separate upper connector and a lower suction head; the bottom end of the lower suction head is used to pick up the gear; the upper connector is quickly connected to the floating rod of the rotating assembly; an outer sealing ring is provided on the outer periphery of the upper connector; and an inner sealing ring is provided at the connection between the upper connector and the lower suction head.

[0020] Optionally, the bottom end of the lower suction head is wrapped with rubber material, and / or the lower suction head includes a top flange and an insertion portion extending from the top flange toward the side away from the upper connector, the outer diameter of the insertion portion being smaller than the outer diameter of the gear.

[0021] Optionally, the motion transmission mechanism includes a driving end synchronous pulley, a transmission belt, and multiple driven synchronous pulleys. The driving end synchronous pulley is connected to the output end of the reducer. The multiple driven synchronous pulleys are separately arranged from the driving end synchronous pulley and connected by the transmission belt. The multiple driven synchronous pulleys are mounted one-to-one on the rotating shafts of the multiple rotating components.

[0022] Optionally, the gear assembly adjustment mechanism further includes a tension adjustment device mounted on the base, the tension adjustment device being used to adjust the tension of the transmission belt.

[0023] Optionally, the tension adjustment device includes an adjustment fixing block and an adjustment screw; the adjustment fixing block is mounted on the base and connected to the reducer mounting seat via the adjustment screw; the reducer mounting seat is mounted on the base and located on one side of the adjustment fixing block; the drive end synchronous pulley, the reducer, and the servo motor are all mounted on the reducer mounting seat.

[0024] Compared with the prior art, the gear assembly and adjustment mechanism provided by this utility model has at least the following beneficial effects:

[0025] The gear assembly and adjustment mechanism described above includes: a base; and a servo drive unit and multiple gear assembly units mounted on the base; the multiple gear assembly units are arranged separately, each gear assembly unit includes a detachably connected rotating component and a suction head component, and each gear assembly unit is used to suction a gear through its suction head component using negative pressure; the servo drive unit includes a servo motor, a reducer, and a motion transmission mechanism connected in sequence; the motion transmission mechanism is also connected to the rotating components of the multiple gear assembly units; the servo drive unit is used to drive the multiple gear assembly units to rotate, so that the gears sucked by the suction head components rotate along with them. Thus, on the one hand, by using a servo drive unit and multiple gear assembly units, the automatic assembly of multiple gears is achieved, greatly simplifying the assembly structure and process while ensuring the meshing accuracy between gears; on the other hand, each gear assembly unit suctions the gear through negative pressure, greatly reducing the difficulty of gripping the gear, especially in confined spaces; furthermore, since the rotating component and the suction head component are detachably connected, the suction head component can be replaced at any time, thus enabling a single gear assembly and adjustment mechanism to adapt to the assembly of gears of different specifications, improving compatibility and effectively reducing gear assembly costs. Attached Figure Description

[0026] The accompanying drawings are provided to better understand this utility model and do not constitute an undue limitation thereof. Wherein:

[0027] Figure 1 This is a schematic diagram of the overall structure of the gear assembly and adjustment mechanism in some embodiments of this utility model;

[0028] Figure 2 This is a schematic diagram of the overall structure of the servo drive unit in some embodiments of this utility model;

[0029] Figure 3 This is a schematic diagram of the overall structure of a single rotating component in some embodiments of this utility model;

[0030] Figure 4 yes Figure 3 A schematic diagram of the axial cross-section of a single rotating component;

[0031] Figure 5 yes Figure 3 A rear view of a single rotating component;

[0032] Figure 6 This is a schematic diagram of the overall structure of a single suction head assembly in some embodiments of this utility model;

[0033] Figure 7 yes Figure 6 A schematic axial cross-sectional view of a single suction head assembly.

[0034] [The following are explanations of the reference numerals in the attached diagram]: 10-Gear, 100-Base, 200-Servo drive unit, 201-Servo motor, 202-Reducer, 203-Motion transmission mechanism, 204-Drive end synchronous pulley, 205-Transmission belt, 206-Driven synchronous pulley, 207-Reducer mounting base, 300-Rotating assembly, 301-Shaft, 302-Floating rod, 3021-Mounting interface, 303-Floating spring, 304-Bearing seat, 305-Height adjustment nut, 306-Locking nut, 307-Detection block, 308- Mounting connector, 309-Rotable connector, 310-Quick-release locking structure, 400-Head assembly, 401-Head body, 402-Positioning spring, 403-Positioning pin, 404-Upper connector, 405-Lower head, 4051-Top flange, 4052-Insert part, 4053-Suction head, 406-Outer sealing ring, 407-Inner sealing ring, 500-Tension adjustment device, 501-Adjusting fixing block, 502-Adjusting screw, 600-Detection unit, 601-Position sensor, 602-Sensor support. Detailed Implementation

[0035] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this utility model. Therefore, the drawings only show components related to this utility model and are not drawn according to the actual number, shape, and size of the components in implementation. In actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0036] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of this utility model must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, based on the disclosure of this utility model and depending on design specifications or implementation requirements, thereby increasing the flexibility in implementing this utility model.

[0037] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “multiple” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “installed,” “connected,” and “linked” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can be internal communication between two elements or an interaction between two elements. Relational terms such as “first,” “second,” etc., are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor do they indicate or imply relative importance or implicitly specify the number of indicated technical features. It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0038] The purpose of this invention is to provide a gear assembly and adjustment mechanism that addresses the problems of complex assembly structures, difficulty in gear gripping, and poor compatibility in traditional multi-gear assembly. Furthermore, it can be applied to robotic arms or robots, enabling automated assembly of multiple gears by incorporating this mechanism, reducing manual intervention, and improving assembly quality and efficiency.

[0039] To make the objectives, advantages, and features of this utility model clearer, the following detailed description is provided in conjunction with the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to conveniently and clearly illustrate the objectives of the embodiments of this utility model. It should also be noted that the term "multiple" in this document refers to two or more.

[0040] Figure 1 A schematic diagram of a gear assembly and adjustment mechanism according to an embodiment of the present invention is shown. Figure 1As shown, the gear assembly and adjustment mechanism includes a base 100, a servo drive unit 200 mounted on the base 100, and multiple gear assembly units. The multiple gear assembly units are arranged separately, and each gear assembly unit includes a rotating component 300 and a suction head component 400 mounted coaxially. The rotating component 300 and the suction head component 400 are detachably connected in a one-to-one correspondence. Each gear assembly unit can also rotate under the drive of the servo drive unit 200, thereby driving the gear 10 to rotate to complete the assembly.

[0041] Furthermore, each gear assembly unit is configured to suck up the gear 10 using negative pressure via its suction head assembly 400, which greatly reduces the difficulty of gripping the gear 10, especially in confined spaces. More specifically, each gear assembly unit is provided with a negative pressure chamber, which is connected to a negative pressure pipeline via a negative pressure interface. The negative pressure pipeline is in turn connected to a negative pressure generator. Under the action of the negative pressure generator, a negative pressure is generated, which can then suck up the gear 10. Each gear assembly unit can be independently equipped with a negative pressure pipeline, and each negative pressure pipeline can be configured with an independent negative pressure generator and detection switch, realizing independent control of multi-gear assembly, which makes it more convenient to use. Specifically, in this embodiment, three gear assembly units are provided, and each of the three gear assembly units is equipped with an independent negative pressure pipeline, a negative pressure generator, and a detection switch. Of course, the actual configuration is not limited to three gear assembly units.

[0042] The installation spacing of the multiple gear assembly units can be adjusted according to the application scenario. As long as the installation spacing of the gear assembly units is greater than the gear pitch in multi-gear assembly products (such as gearboxes), especially the installation spacing of the multiple suction head assemblies 400, it facilitates the gripping and assembly of gears 10 and reduces the risk of interference. For example, in one application scenario, the installation spacing of the multiple suction head assemblies 400 is greater than 100mm, which is compatible with the gear pitch in gear assembly products with dimensions less than 100mm*100mm.

[0043] Furthermore, the suction head assembly 400 can be customized according to the required gear model and specifications, meaning that one suction head assembly 400 can be configured for each type and specification of gear 10. Because of this, the rotating component 300 and the suction head assembly 400 in each gear assembly unit are detachably connected, allowing the suction head assembly 400 to be replaced according to the gear specifications. This enables a single gear assembly adjustment mechanism to adapt to the assembly of gears 10 of different specifications, improving compatibility and effectively reducing gear assembly costs.

[0044] The rotating assembly 300 and the suction head assembly 400 are preferably connected by a quick-release mechanism. This allows for rapid connection and disconnection of the rotating assembly 300 and the suction head assembly 400 through simple operation, making the replacement of the suction head assembly 400 more convenient and efficient.

[0045] The rotating assembly 300 and the suction head assembly 400 can be quickly connected by various measures. In addition to the plunger locking connection method described in the following specific embodiments, those skilled in the art can obtain other alternative solutions based on their knowledge, such as pin connection, magnetic connection, clamping connection, tenon and mortise connection, spline connection, etc.

[0046] Figure 2 A schematic diagram of the structure of a servo drive unit 200 according to an embodiment of the present invention is shown. Figure 2 As shown, the servo drive unit 200 includes a servo motor 201, a reducer 202, and a motion transmission mechanism 203 connected in sequence. The servo motor 201 provides rotational power and reduces the speed and increases the output torque through the reducer 202. The motion transmission mechanism 203 is also connected to the rotating components 300 of multiple gear assembly units, and is used to transmit the rotational motion output by the reducer 202 to multiple gear assembly units, thereby driving all gear assembly units to rotate around their rotation axis, and synchronously driving the gear 10 picked up by the suction head assembly 400 to rotate together.

[0047] Understandably, when assembling gear 10, it is necessary to rotate and press it together. On the one hand, the gear 10 is pressed onto the shaft, and on the other hand, the meshing assembly of gear 10 is achieved by rotating gear 10. Therefore, the rotation of gear 10 needs to be controlled by servo drive unit 200, and the preload of gear 10 also needs to be controlled by gear assembly unit.

[0048] In any case, multiple gears 10 can be automatically assembled by controlling multiple gear assembly units with only one servo drive unit 200. This greatly simplifies the assembly structure and process while ensuring gear meshing accuracy. Furthermore, the servo motor 201 can precisely control the rotation speed, rotation time, and rotation torque of each gear assembly unit, thereby reducing the risk of component damage due to overload of the gear assembly adjustment mechanism.

[0049] The servo motor 201 and the reducer 202 are typically arranged coaxially. For example, in this embodiment, the input and output shafts of the reducer 202 are coaxial, thereby reducing the lateral structural dimensions of the gear assembly and adjustment mechanism, reducing the overall weight of the gear assembly and adjustment mechanism, and achieving lightweighting of the gear assembly and adjustment mechanism.

[0050] There are no special restrictions on the structure and type of the reducer 202, as long as it can achieve both speed reduction and torque increase. Preferably, the reducer 202 is a simple, small-sized, and lightweight speed reduction device, such as a harmonic reducer.

[0051] The motion transmission mechanism 203 can transmit rotational motion to all gear assembly units through various means. Therefore, in addition to the belt drive method described in the specific embodiment, other alternatives are possible, such as gear drive, chain drive, etc. Given that belt drive has a simpler structure and lower installation and maintenance costs, it is preferred.

[0052] Therefore, such as Figure 2 As shown, in one embodiment, the motion transmission mechanism 203 includes a driving end synchronous pulley 204, a transmission belt 205, and multiple driven synchronous pulleys 206; the driving end synchronous pulley 204 is connected to the output shaft of the reducer 202; the multiple driven synchronous pulleys 206 are separately arranged from the driving end synchronous pulley 204 and are connected by the transmission belt 205; the multiple driven synchronous pulleys 206 are mounted one-to-one on the rotation shafts 301 of multiple rotating components 300 (see...). Figure 4 On the axis of rotation, each rotating component 300 rotates about its rotation axis 301. The number of driven synchronous pulleys 206 is set according to the number of gear assembly units, ensuring that each gear assembly unit can be driven to rotate by a corresponding driven synchronous pulley 206. A drive belt 205 and a drive-end synchronous pulley 204 are always provided, thereby simplifying the structure, reducing complexity, and lowering costs.

[0053] The driving synchronous pulley 204 and multiple driven synchronous pulleys 206 are arranged in a polygonal pattern on the base 100. Taking three driven synchronous pulleys 206 as an example, the transmission belt 205 is fitted onto one driving synchronous pulley 204 and three driven synchronous pulleys 206, forming a closed-loop transmission. The driving synchronous pulley 204 and three driven synchronous pulleys 206 are arranged in a quadrilateral pattern, and each driven synchronous pulley 206 is mounted on the rotation shaft 301 of a corresponding rotating component 300. This structure is simple, has low manufacturing and maintenance costs, good reliability, high transmission efficiency, and is easy to install.

[0054] It should also be noted that although the transmission belt 205 shown in the figure is a synchronous belt (i.e., a toothed belt), in reality, the transmission belt 205 can also be replaced with a flat belt, V-belt, round belt, multi-ribbed belt, etc. Given that synchronous belts have advantages such as high transmission accuracy, high transmission efficiency, compact structure, low cost, and strong adaptability, they are the best solution to better adapt to the assembly of gear 10.

[0055] Furthermore, the gear assembly adjustment mechanism also includes a tension adjustment device 500 mounted on the base 100. The tension adjustment device 500 is used to adjust the tension of the transmission belt 205 to ensure that the transmission belt 205 remains taut during use, thus guaranteeing the reliability of power transmission. There are many methods for adjusting the tension of the transmission belt 205, and at least one can be selected. An illustrative description follows.

[0056] In one embodiment, the tension adjustment device 500 includes an adjusting block 501 and an adjusting screw 502. The adjusting block 501 is mounted on the base 100 and connected to the reducer mounting base 207 via the adjusting screw 502. The reducer mounting base 207 is mounted on the base 100 and located on one side of the adjusting block 501. The drive end synchronous pulley 204, the reducer 202, and the servo motor 201 are all mounted on the reducer mounting base 207, forming a single unit for easy overall position adjustment. In this case, simply rotating the adjusting screw 205 changes the relative position of the reducer mounting base 207 and the adjusting block 501, indirectly adjusting the center distance of the synchronous pulley to achieve tension. This structure is simple and easy to install and use.

[0057] In some cases, abnormal problems such as interference may occur during gear assembly, requiring timely inspection.

[0058] Therefore, in one embodiment, the gear assembly adjustment mechanism further includes multiple detection units 600 mounted on the base 100, with each detection unit 600 corresponding to one of the gear assembly units. Each detection unit 600 is used to detect the position of a corresponding gear assembly unit and outputs the position information of the gear assembly unit. This allows for real-time online monitoring of the gear assembly process, ensuring gear assembly quality, and this detection method easily reduces real-time detection costs.

[0059] More specifically, external devices can determine whether the gear assembly process is abnormal based on the received position information of the gear assembly unit. Abnormalities here mainly refer to interference problems during the gear 10 assembly process, such as improper alignment of gear 10 during meshing, errors during gear 10 installation, and wear of gear 10, all of which lead to interference. In specific settings, each detection unit 600 can be aligned with a target position on the gear assembly unit for detection. The detection method is primarily proximity detection, such as electromagnetic, photoelectric, ultrasonic, or other common proximity detection methods. Proximity detection means that a signal is emitted when an object approaches within a set distance, without direct contact with the object.

[0060] In one embodiment, the detection unit 600 includes a position sensor 601 and a sensor support 602; the sensor support 602 is mounted on the base 100; the position sensor 601 is mounted on the sensor support 602 to detect the position of the gear assembly unit. For example, in this embodiment, the position sensor 601 directly detects the position of the detection block 307 of the rotating assembly 300. The position sensor 601 is preferably a proximity switch, which reduces mechanical wear and failure risk, has high reliability, provides rapid response, and is easy to install and maintain, thus reducing detection costs. The proximity switch can be, for example, inductive, capacitive, or photoelectric, and the specific type is not limited. Optionally, the proximity switch is set as an inductive proximity switch, suitable for detecting metal objects.

[0061] In one embodiment, the sensor support 602 is provided with an oblong hole, and the position sensor 601 is installed through the oblong hole to ensure that the position sensor 601 is accurately and stably positioned during the installation process.

[0062] The position sensor 601 is communicatively connected to an external device. Based on the received position information of the gear assembly unit, the external device determines whether the gear assembly process is abnormal; if abnormal, it can issue an alarm or warning. This application does not specifically limit the external device; it can be any electronic device capable of signal reception, processing, judgment, and control.

[0063] On the other hand, the rotating component 300 preferably adopts a floating design, and the preload of the gear 10 during the assembly process is controlled by spring force.

[0064] Figures 3 to 5 A schematic diagram of the structure of a rotating assembly 300 according to an embodiment of the present invention is shown. Figures 3 to 5As shown, in one embodiment, the rotating assembly 300 includes a rotating shaft 301, a floating rod 302, a floating spring 303, and a bearing seat 304; the bearing seat 304, rotating shaft 301, and floating rod 302 are arranged sequentially from the outside to the inside; the bearing seat 304 is mounted on the base 100 to support the rotating shaft 301; the rotating shaft 301 is connected to a motion transmission mechanism 203 to rotate around its own axis within the bearing seat 304 under the drive of the motion transmission mechanism 203; the floating rod 302 passes through the rotating shaft 301 and can slide relative to the rotating shaft 301 along the axial direction; the floating spring 303 is sleeved on the floating rod 302 and is located between the floating rod 302 and the bearing seat 304 at its upper limit in the axial direction. The bearing seat 304 and the base 100 can be integral or independent, which is not limited in this application. In this way, by using the spring force of the floating spring 303 to control the floating rod 302, the floating rod 302 provides a certain preload to the gear 10, which avoids excessive force during the meshing process and damage to the gear 10. The compression of the floating spring 303 can also be changed to adjust the preload during the assembly process of the gear 10, so as to realize the adjustable assembly pressure and make the gear assembly process more flexible and convenient.

[0065] In practice, to change the compression of the floating spring 303, one only needs to adjust the vertical position of the floating rod 302. A simpler method is to directly install a height adjusting nut 305 on the floating rod 302. By adjusting the installation height of the height adjusting nut 305 on the floating rod 302, the compression of the floating spring 303 can be changed.

[0066] Furthermore, the bottom end of the floating rod 302 is detachably connected to the suction head assembly 400, preferably via a quick-release connection. Specifically, the bottom end of the floating rod 302 is provided with an installation interface 3021, which engages with the top end of the suction head body 401 of the suction head assembly 400 to position the floating rod 302 and the suction head body 401. Simultaneously, the installation interface 3021 is provided with a quick-release locking structure 310 to lock the floating rod 302 and the suction head body 401, preventing them from separating. In this embodiment, the installation interface 3021 is a recess for insertion into the top end of the suction head body 401. In other cases, the installation interface 3021 may also be a protrusion for insertion into the recess at the top end of the suction head body 401.

[0067] Preferably, the quick-release locking structure 310 is a locking plunger. When locking is required, simply press the locking plunger inward to lock the floating rod 302 and the suction head body 401; conversely, pull the locking plunger outward to release the connection between the floating rod 302 and the suction head body 401. This quick-release connection method is relatively simple to operate and cost-effective. The quick-release locking structure 310 can be one or more, more preferably two. In this embodiment, two locking plungers are used.

[0068] Furthermore, when the motion transmission mechanism 203 uses belt drive, to prevent the driven synchronous pulley 206 from slipping, the rotating assembly 300 also includes a locking nut 306 mounted on the rotating shaft 301. The locking nut 306 locks the driven synchronous pulley 206 onto the rotating shaft 301. For example, Figure 4 In this configuration, the driven synchronous pulley 206 is rotatably mounted on the bearing housing 304 and locked by the locking nut 306.

[0069] Continue to refer to Figures 3 to 5 In one embodiment, a detection block 307 is provided at the top of the floating rod 302, and the detection block 307 is correspondingly arranged with the position sensor 601. During the assembly process, the position sensor 601 detects the position of the detection block 307 in real time, thereby determining whether there is an abnormality in the gear assembly process. The detection principle is that during the gear assembly process, when the position of the gear 10 interferes and causes the floating spring 303 to be compressed, the position of the detection block 307 will also change, thereby causing a change in the detection signal of the position sensor 601. Based on the change in the detection signal, it can be determined that an abnormality has occurred in the assembly process. The detection block 307 is preferably a metal body, which facilitates detection by the proximity switch. The shape of the detection block 307 includes, but is not limited to, a cylindrical shape.

[0070] Further, preferably, a negative pressure pipeline is introduced from the top of the floating rod 302, and certain measures are taken to prevent the negative pressure pipeline from rotating with the floating rod 302. In one embodiment, a mounting joint 308 is provided at the top of the floating rod 302, which is integral with or independent of the floating rod 302. The mounting joint 308 is suitable for mounting a rotatable joint 309, which serves as a negative pressure interface for installing the negative pressure pipeline. Further, the detection block 307 is sleeved on the mounting joint 308, and the detection block 307 and the mounting joint 308 can be integral with or independent of each other. Thus, even if the floating rod 302 rotates, the rotatable joint 309 can remain stationary, thereby preventing the negative pressure pipeline from rotating. The rotatable joint 309 can be any pipeline joint that allows relative rotation, such as a ball bearing joint or other rotatable joint, and is not limited thereto.

[0071] Figure 6 and Figure 7A schematic diagram of the suction head assembly 400 according to an embodiment of the present invention is shown. Figure 6 and Figure 7 As shown, in one embodiment, the suction head assembly 400 includes a suction head body 401 and a positioning structure disposed within the suction head body 401; the bottom end of the suction head body 401 is used to pick up the gear 10; the top end of the suction head body 401 is detachably connected to the rotating assembly 300, preferably a quick-release connection; the positioning structure is used to insert into the central hole of the gear 10 and seal the central hole. Thus, by positioning the gear 10 and sealing the inner hole of the gear, negative pressure adsorption is achieved, ensuring the stability of the negative pressure adsorption.

[0072] Preferably, the positioning structure includes a positioning spring 402 and a positioning pin 403; the positioning spring 404 is sleeved on the positioning pin 403; the positioning pin 403 is inserted into the center hole of the gear 10 under the action of the positioning spring 402, and seals the center hole. In this way, the positioning pin 403 positions the gear 10 by controlling the spring force, avoiding assembly failure caused by misalignment of the gear 10 during assembly, and also sealing the gear hole to achieve a better adsorption effect.

[0073] For the installation of the positioning assembly, the suction head body 401 adopts a split design, specifically including a split upper connector 404 and a lower suction head 405; the upper connector 404 is fixedly connected above the lower suction head 405; the bottom end of the lower suction head 405 is used to pick up the gear 10. Optionally, the upper connector 404 is locked onto the lower suction head 405 by several screws. The upper connector 404 and the lower suction head 405 can be connected by a flange. During assembly, the positioning structure is first placed into the lower suction head 405, and then the upper connector 404 is covered and fixed. In addition, to ensure the sealing of the negative pressure suction, an outer sealing ring 406 is provided on the outer periphery of the upper connector 404, and an inner sealing ring 407 is provided at the connection position between the upper connector 404 and the lower suction head 405.

[0074] Based on this, the upper connector 404 is directly and detachably connected to the floating rod 302. Specifically, the upper connector 404 is partially inserted into the cavity 3021 at the bottom end of the floating rod 302. The upper connector 404 is generally cylindrical, and the outer circumferential surface of the cylinder is provided with a groove for installing the outer sealing ring 406. Preferably, the upper connector 404 is configured as a quick-release head, and its shape is suitable for quick-release connection with the floating rod 302. In addition, for easy disassembly, the upper connector 404 can be configured to have a certain degree of taper.

[0075] Preferably, the bottom end of the lower suction head 405 is wrapped with rubber material to better fit with the end face of the gear 10 and generate sufficient assembly friction to increase the stability of the adsorption. More specifically, the bottom adsorption surface of the lower suction head 405 adopts a rubber-coated design, which can fit according to the surface shape of the gear 10 when in contact with it, achieving better adsorption.

[0076] In one embodiment, the lower suction head 405 includes a top flange 4051 and an insertion portion 4052 extending from the top flange 4051 away from the upper connector 404. The outer diameter of the insertion portion 4052 is smaller than the outer diameter of the gear 10, so that the insertion portion 4052 can easily extend into the space between the gears 10, thus better enabling gripping and assembly in confined spaces. A smaller suction head 4053 can also be provided at the bottom end of the insertion portion 4052 away from the top flange 4051. The suction head 4053 can be inserted into a groove on the end face of the gear 10 to pick up the gear 10. Therefore, rubber material can be wrapped around the suction surface of the suction head 4053.

[0077] The working principle of the gear assembly and adjustment mechanism will be further explained below with reference to specific implementation methods.

[0078] First, the gear gripping process is as follows: The entire gear assembly and adjustment mechanism is fixed to the external equipment through the base 100. Then, the entire gear assembly and adjustment mechanism is moved to the material picking position through the transfer mechanism or the device built into the external equipment such as the robot. After reaching the material picking position, the entire gear assembly and adjustment mechanism is lowered through the lifting mechanism until the bottom end of the lower suction head 405 contacts the gear 10. Then the negative pressure generator generates negative pressure, and at the same time, the positioning pin 403 is inserted into the center hole of the gear 10 under the action of the positioning spring 402. While positioning the gear 10, the center hole of the gear 10 is closed, thereby generating a vacuum to pick up the gear 10. During the suction process, the floating spring 303 can eliminate the position deviation caused by the height tolerance of the gear 10 and maintain the stability of the suction.

[0079] Next is (2) the gear assembly process: move the entire gear assembly adjustment mechanism to the assembly position; after reaching the assembly position, start the servo motor 201, and the drive end synchronous wheel 204 transmits the rotational motion to the driven synchronous wheel 206 through the transmission belt 205. The driven synchronous wheel 206 drives the entire rotating component 300 to rotate, and the lower suction head 405 rotates and descends at the same time. Through the pre-pressure generated by the floating spring 303, the gear 10 descends and simultaneously meshes with the existing gear until the gear 10 reaches the assembly position; after the gear 10 is assembled, the entire gear assembly adjustment mechanism only needs to move to the next assembly position and repeat the gear assembly process to complete the assembly of multiple sets of gears;

[0080] During this process, the position sensor 601 detects the position of the detection block 307 and outputs a detection signal. If there is interference in the assembly of the gear 10, the floating spring 303 is compressed, causing the position of the detection block 307 to change. This changes the detection signal of the position sensor 601, and the external equipment indicates that there is an abnormality in the assembly process, thus preventing defective products from flowing out. Moreover, during the rotation of the lower suction head 405, it is connected to the negative pressure pipeline through the rotatable joint 309 installed at the top of the floating rod 302 to prevent the negative pressure pipeline from rotating and getting tangled.

[0081] Furthermore, when it is necessary to replace the suction head assembly 300, simply pull the suction head assembly 400 downwards with force, which is very convenient.

[0082] Furthermore, the gear assembly and adjustment mechanism provided by this utility model can be applied to robotic arms and robots to achieve flexible gear assembly, quickly adapt to different product assembly needs, and greatly improve assembly efficiency and quality.

[0083] Thus, this utility model embodiment also provides a robotic arm and robot, such as a multi-axis servo or robot, which is equipped with the gear assembly and adjustment mechanism provided in any embodiment of this utility model. Since the robot and robotic arm provided by this utility model belong to the same inventive concept as the gear assembly and adjustment mechanism provided by this utility model, the robot and robotic arm provided by this utility model have all the advantages of the gear assembly and adjustment mechanism provided by this utility model. Therefore, the beneficial effects of the robot and robotic arm provided by this utility model will not be described in detail here.

[0084] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A gear assembly adjustment mechanism characterized by, include: Base; And a servo drive unit and multiple gear assembly units mounted on the base; Multiple gear assembly units are separately arranged, each gear assembly unit includes a detachably connected rotating component and a suction head component, and each gear assembly unit is used to pick up gears by negative pressure through its suction head component; The servo drive unit includes a servo motor, a reducer, and a motion transmission mechanism connected in sequence; the motion transmission mechanism is also connected to the rotating components of the plurality of gear assembly units; the servo drive unit is used to drive the plurality of gear assembly units to rotate, so that the gears picked up by the suction head assembly rotate along with them.

2. The gear assembly adjustment mechanism of claim 1, wherein, It also includes multiple detection units installed on the base; the multiple detection units are arranged one-to-one with the multiple gear assembly units; each detection unit is used to detect the position of a corresponding gear assembly unit and output the position information of the gear assembly unit.

3. The gear assembly adjustment mechanism of claim 2, wherein, Each of the detection units includes a position sensor and a sensor support; the sensor support is mounted on the base; the position sensor is mounted on the sensor support to detect the position of the detection block of the rotating assembly; the position sensor is a proximity switch.

4. The gear assembly adjustment mechanism of claim 1, wherein The rotating assembly includes a floating spring and a bearing seat, a rotating shaft, and a floating rod arranged sequentially from the outside to the inside. The bearing seat is mounted on the base to support the rotating shaft. The rotating shaft is connected to the motion transmission mechanism to rotate around its own axis under the drive of the motion transmission mechanism. The floating rod can slide relative to the rotating shaft along the axial direction. The floating spring is sleeved on the floating rod and is limited in the axial direction between the bearing seat and the floating rod. The bottom end of the floating rod is quickly connected to the suction head assembly.

5. The gear assembly adjustment mechanism of claim 4, wherein, The rotating component also satisfies at least one of the following conditions: The bottom end of the floating rod is provided with an installation interface, which is connected to the top end of the suction head body of the suction head assembly through a concave-convex fit, and the floating rod and the suction head body are locked by a quick-release locking structure; The rotating assembly also includes a height adjusting nut mounted on the floating rod, the height adjusting nut being used to adjust the compression of the floating spring; The top of the floating rod is equipped with a detection block; The top of the floating rod is provided with a rotatable joint, and the rotatable joint is used to install a negative pressure pipeline; A locking nut is installed on the rotating shaft, and the locking nut locks the driven synchronous wheel of the motion transmission mechanism. The driven synchronous wheel is used to drive the rotating shaft to rotate around its own axis.

6. The gear assembly and adjustment mechanism according to claim 1, characterized in that, The suction head assembly includes a suction head body and a positioning structure disposed within the suction head body; the bottom end of the suction head body is used to pick up the gear; the top end of the suction head body is quickly connected to the rotating assembly; the positioning structure is used to insert into the center hole of the gear and seal the center hole.

7. The gear assembly and adjustment mechanism according to claim 6, characterized in that, The positioning structure includes a positioning spring and a positioning pin. The positioning spring is sleeved on the positioning pin. The positioning pin is used to insert into the center hole of the gear under the action of the positioning spring and to seal the center hole.

8. The gear assembly and adjustment mechanism according to claim 6, characterized in that, The suction head body includes a separate upper connector and a lower suction head; the bottom end of the lower suction head is used to pick up the gear; the upper connector is quickly connected to the floating rod of the rotating assembly; an outer sealing ring is provided on the outer periphery of the upper connector; an inner sealing ring is provided at the connection position between the upper connector and the lower suction head.

9. The gear assembly and adjustment mechanism according to claim 8, characterized in that, The bottom end of the lower suction head is covered with rubber material, and / or the lower suction head includes a top flange and an insertion portion extending from the top flange toward the side away from the upper connector, the outer diameter of the insertion portion being smaller than the outer diameter of the gear.

10. The gear assembly and adjustment mechanism according to claim 1, characterized in that, The motion transmission mechanism includes a driving end synchronous pulley, a transmission belt, and multiple driven synchronous pulleys. The driving end synchronous pulley is connected to the output end of the reducer. The multiple driven synchronous pulleys are separately arranged from the driving end synchronous pulley and are connected by the transmission belt. The multiple driven synchronous pulleys are mounted one-to-one on the rotating shafts of the multiple rotating components.

11. The gear assembly and adjustment mechanism according to claim 10, characterized in that, It also includes a tension adjustment device mounted on the base, the tension adjustment device being used to adjust the tension of the transmission belt.

12. The gear assembly and adjustment mechanism according to claim 11, characterized in that, The tension adjustment device includes an adjustment fixing block and an adjustment screw; the adjustment fixing block is installed on the base and connected to the reducer mounting seat through the adjustment screw; the reducer mounting seat is installed on the base and located on one side of the adjustment fixing block; the drive end synchronous pulley, the reducer and the servo motor are all installed on the reducer mounting seat.

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