Planetary gear assembly assembly apparatus

Abstract

The utility model relates to a kind of planetary gear drive assembly assembling equipment, including planetary wheel feed storage mechanism, sun gear and inner tooth ring storage mechanism, industrial robot and planetary gear drive assembly assembly mechanism, feed storage mechanism is stored and orderly output each kind of gear accessory respectively, assembly mechanism is equipped with the tooling table with multiple assembly sites, first rotary drive module and driving shaft piece adjustment module, the shell of pre-installed driving shaft piece is placed on assembly site, and sun shaft lower end is worn out on workbench, tooling table rotation drives shell to be in turn circulated to each assembly station, driving shaft piece adjustment module adjusts planet shaft to assembly angle, planetary wheel feed storage mechanism is sequentially output planetary wheel to corresponding planet shaft assembly, then by industrial robot, sun gear, inner tooth ring are sequentially completed assembly to shell, and the equipment realizes automatic feeding of spare part, station circulation and accurate alignment assembly, reduces manual intervention, improves assembly efficiency and product quality consistency.

Description

Technical Field

[0001] This utility model relates to the field of assembly production line technology, and in particular to a planetary gear transmission assembly equipment. Background Technology

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

[0003] However, existing planetary gear transmission assemblies have significant shortcomings in the assembly process: The industry largely relies on manual assembly with simple tooling, resulting in extremely low automation and outdated assembly methods. Various gear components are scattered and lack dedicated storage and supply mechanisms, requiring repeated manual loading and unloading, leading to high labor costs and hindering a unified assembly rhythm, making continuous mass production difficult. The housings pre-assembled with drive shaft components lack multi-station transfer tooling, requiring frequent manual handling and repositioning, disrupting the seamless connection between loading / unloading and multi-process assembly, resulting in low production efficiency. Furthermore, planetary shafts require precise alignment for planetary gear assembly; manual adjustment and visual inspection result in large alignment errors, easily leading to misaligned or improperly fitted planetary gears, resulting in a high defect rate. Uneven control of force and position during manual assembly easily causes gear collisions and misaligned meshing clearances, affecting the overall transmission performance. In addition, the loading / unloading of housings and the transfer of finished products all rely on manual handling, resulting in high labor intensity, poor product assembly consistency, and difficulty in ensuring stable assembly quality and reliable operation. Utility Model Content

[0004] The purpose of this utility model is to overcome the defects of the prior art by providing a planetary gear transmission assembly equipment, which overcomes the defects of low efficiency, inaccurate alignment and poor quality consistency of manual assembly.

[0005] The technical solution of this utility model is: a planetary gear transmission assembly assembly equipment, characterized in that it includes a planetary gear feeding and storage mechanism, a sun gear and internal gear ring storage mechanism, an industrial robot, and a planetary gear transmission assembly assembly mechanism. The planetary gear feeding and storage mechanism is used to store multiple planetary gears and can output the planetary gears one by one; The sun gear and internal gear ring storage mechanism is used to store multiple sun gears and internal gear rings; The planetary gear transmission assembly assembly mechanism includes a tooling table, a first rotary drive module, and a drive shaft adjustment module. The tooling table has multiple assembly positions on its circumference, and the bottom wall of each assembly position is provided with a shaft hole for the sun shaft to pass through. The housing pre-installed with the drive shaft is placed on the assembly position, and the lower end of the sun shaft of the drive shaft passes through the shaft hole and out of the tooling table. The first rotary drive module is used to drive the tooling table to rotate, thereby driving each assembly position to sequentially move to the loading and unloading station, the planetary gear assembly station, and the sun gear and internal gear ring assembly station. The active shaft adjustment module corresponds to the planetary gear assembly station. The active shaft adjustment module acts on the lower end of the sun shaft that passes through the tooling table and drives the active shaft to rotate and adjust its position so that each planetary shaft on the active shaft rotates circumferentially to the angle position to be assembled in sequence. The planetary gear feeding and storage mechanism is used to assemble the planetary gears one by one onto the planetary shaft at the angle position to be assembled. The outer shell after planetary gear assembly is transferred to the sun gear and internal gear ring assembly station via the tooling table. The industrial robot takes the sun gear and internal gear ring from the sun gear and internal gear ring storage mechanism and assembles the sun gear and internal gear ring into the corresponding outer shell to form a planetary gear transmission assembly.

[0006] By adopting the above technical solution, a complete automated assembly system is constructed by integrating the planetary gear feeding and storage mechanism, the sun gear and internal gear ring storage mechanism, and the industrial robot and planetary gear transmission assembly assembly mechanism, so as to realize the fully automated assembly operation of the planetary gear transmission assembly.

[0007] The planetary gear feeding and storage mechanism enables centralized storage and orderly unloading of planetary gears, ensuring a stable supply without chaotic stacking or duplicate unloading, eliminating manual material sorting and loading processes. The sun gear and internal gear ring storage mechanism centrally stores these two core transmission components, facilitating automated material retrieval and preventing scattered parts from impacting production efficiency. In the planetary gear transmission assembly mechanism, a multi-station tooling table with circumferentially arranged works in conjunction with the first rotary drive module to achieve intermittent rotation, driving the pre-assembled drive shaft housing to sequentially complete multiple processes including unloading, planetary gear assembly, and sun gear and internal gear ring assembly, achieving continuous assembly line operation and improving the continuity and efficiency of the assembly line. The drive shaft adjustment module acts from below the tooling table on the lower end of the protruding sun shaft, driving the drive shaft to rotate circumferentially and precisely adjust each planetary shaft to the desired assembly angle position, solving the problem of the drive shaft planetary shafts not automatically aligning, providing a positioning basis for precise planetary gear assembly, and avoiding the defects of large alignment deviations and low efficiency associated with manual adjustment. Subsequently, the planetary gears are automatically assembled through the planetary gear feeding and storage mechanism, and then transferred to the next workstation via the tooling table. The industrial robot autonomously picks up and places the sun gear and the internal gear ring and completes the internal assembly, reducing human intervention throughout the process and avoiding problems such as inaccurate positioning, poor assembly precision, and damage to parts caused by manual assembly. This effectively improves the assembly precision, product consistency, and overall production efficiency of the planetary gear transmission assembly, and is suitable for the needs of mass automated production.

[0008] A further feature of this invention is that the active shaft adjustment module includes a sun shaft clamp, a first Z-axis sliding drive module, and a rotation drive module; the first Z-axis sliding drive module is used to drive the sun shaft clamp to slide along the Z-direction below the aligned active shaft; the sun shaft clamp is used to hold the lower end of the sun shaft of the active shaft; the rotation drive module is used to drive the sun shaft clamp to rotate the active shaft around the vertical axis to adjust the circumferential rotation angle of the planetary shaft.

[0009] With the above-mentioned further configuration, in conjunction with the structure of the active shaft adjustment module, the first Z-axis sliding drive module can drive the sun shaft clamp to move precisely to the alignment position at the lower end of the sun shaft, achieving docking and clamping; the rotation drive module drives the sun shaft clamp in the clamping state to rotate around the vertical axis, causing the active shaft to rotate synchronously, which can smoothly and accurately change the circumferential position of the planetary shaft, ensuring that the planetary shaft adjustment angle is precise and controllable, providing a stable alignment basis for the subsequent precise press-fitting of planetary gears, and adapting to the angle adjustment requirements of active shafts of different specifications.

[0010] A further feature of this invention is that the planetary gear transmission assembly mechanism also includes a fixed platform, and the tooling platform is rotatably arranged relative to the fixed platform; the fixed platform is provided with a first telescopic pushing member and a second telescopic pushing member corresponding to the planetary gear assembly position and the sun gear and internal gear ring assembly position, respectively, and each telescopic pushing member is provided with a telescopic pushing body; the tooling platform is provided with a blocking part corresponding to the assembly position; when the outer shell moves with the tooling platform to the planetary gear assembly position and the sun gear and internal gear ring assembly position, the pushing body of the corresponding telescopic pushing member extends out and presses against the side wall of the outer shell, and the pushing body and the blocking part cooperate to clamp and position the two side walls of the outer shell.

[0011] With the further configuration described above, the tooling table can rotate relative to the fixed table. When the outer shell moves to the assembly station, the pusher of the telescopic pusher extends and cooperates bidirectionally with the blocking part of the tooling table to form a clamping and limiting position from both sides of the outer shell. This effectively prevents the outer shell from shifting, shaking, or rotating during gear assembly, ensuring the outer shell's position is fixed and avoiding misalignment or poor clamping of the planetary gears and sun gear due to outer shell misalignment. This improves assembly accuracy and adapts to the positioning requirements of different stations during the transfer process.

[0012] A further feature of this invention is that the planetary gear transmission assembly assembly mechanism is equipped with a vision inspection mechanism, which corresponds to the planetary gear assembly station. The vision inspection mechanism includes a vision inspection tool and a Y-axis sliding drive module. The Y-axis sliding drive module is used to drive the vision inspection tool to slide along the Y direction above the aligned housing. The vision inspection tool is used to detect the angular position of the planetary shaft and provide feedback signals to control the active shaft adjustment module to drive the active shaft to rotate in order to adjust the planetary shaft to the angular position to be assembled.

[0013] With the above-mentioned further configuration, the Y-axis sliding drive module drives the vision inspection tool to move flexibly, avoiding positional interference with the loading and unloading of the housing. The vision inspection tool can smoothly move to the inspection position above the housing, directly identifying the actual angular position of the planetary shafts. The feedback signal then precisely controls the active shaft adjustment module to adjust the corresponding angle, realizing automatic detection and real-time error correction of the planetary shaft angle. This replaces the method of manually judging the alignment angle, eliminating human visual errors and ensuring that each planetary shaft can accurately reach the standard assembly position. The angular positioning accuracy is higher, further improving the accuracy of planetary shaft alignment and providing a more reliable position guarantee for subsequent planetary gear assembly.

[0014] A further feature of this invention: The planetary gear feeding and storage mechanism includes a planetary gear storage unit and a planetary gear feeding unit; the planetary gear storage unit includes a loading platform, a storage cylinder, and a pusher; the storage cylinder is vertically mounted on the loading platform and can accommodate multiple planetary gears stacked together; the bottom of the storage cylinder has a through slot for a single planetary gear loaded inside to pass through; the loading platform has a waiting position corresponding to the outlet of the through slot in the storage cylinder; the pusher is mounted on the loading platform and is used to push the planetary gear at the bottom of the storage cylinder... The planetary gears are pushed out one by one to the waiting position; the planetary gear feeding unit includes a planetary gear clamp, a first X-axis sliding drive module and a second Z-axis sliding drive module. The planetary gear clamp is used to clamp the planetary gears; the first X-axis sliding drive module is used to drive the planetary gear clamp to slide along the X direction to transfer the clamped planetary gears between the waiting position and the planetary gear assembly position; the second Z-axis sliding drive module is used to drive the planetary gear clamp to slide along the Z direction to press the planetary gears onto the corresponding planetary shafts of the housing on the planetary gear assembly position.

[0015] With the further configuration described above, the planetary gear storage unit stores planetary gears in stacked storage cylinders. A pusher component pushes the bottom planetary gears one by one to the waiting station, achieving orderly and quantitative output of planetary gears and avoiding chaotic material accumulation and blockage. The planetary gear feeding unit uses X-axis and Z-axis dual sliding modules to move the planetary gear clamps, completing the transfer and vertical pressing of planetary gears between the waiting station and the assembly station. The entire process of planetary gear output, transfer, and pressing is automated. The output rhythm matches the workflow of the tooling station, ensuring uninterrupted planetary gear supply, smooth and uniform pressing, preventing damage from collisions, and improving planetary gear assembly efficiency and yield rate.

[0016] A further feature of this invention is that the sun gear and internal gear ring storage mechanism includes a storage tray and a second rotary drive module. The storage tray has multiple sun gear mounting positions and internal gear ring mounting positions on its circumference. The second rotary drive module is used to drive the storage tray to rotate.

[0017] With the further configuration described above, the storage tray is divided into sun gear placement stations and internal gear ring placement stations, allowing for the categorized and centralized storage of two different assembly components. A second rotary drive module rotates the storage tray, enabling the corresponding components to be rotated to a position accessible to the industrial robot as needed. This achieves categorized and orderly storage and automatic material changing and alignment of the sun gear and internal gear ring, facilitating precise gripping and retrieval by the industrial robot, preventing mixed placement and mis-retrieval of components, simplifying the robot's material handling path, and improving the smoothness of gear retrieval and assembly.

[0018] A further feature of this invention is as follows: the industrial robot includes a multi-axis robotic arm and a second X-axis sliding drive module; the end of the multi-axis robotic arm is equipped with a special gripper, which is used to grip a sun gear or an internal gear ring; the second X-axis sliding drive module is used to drive the multi-axis robotic arm to slide and transport workpieces along the X-axis; a six-dimensional force sensor is provided on the multi-axis robotic arm, which is used to collect the torque of the workpiece held by the special gripper during assembly and to feed back the torque value to adjust the angle of the multi-axis robotic arm.

[0019] With the above-mentioned further configuration, the second X-axis sliding drive module can drive the multi-axis robotic arm to translate over a wide range, expanding the robot's operating coverage and adapting to workpiece gripping and transfer in different workstations and storage locations; the dedicated gripper can stably hold various workpieces such as sun gears and internal gear rings; the six-dimensional force sensor can collect the force data of the workpiece held by the dedicated gripper during assembly, and adjust the angle of the multi-axis robotic arm by feeding back torque signals, correcting the alignment and assembly posture of the workpiece in real time, avoiding hard extrusion, wear or extrusion damage to gears and shells caused by assembly deviations, improving the accuracy of assembly alignment, and adapting to automatic assembly operations under complex working conditions.

[0020] A further feature of this invention includes a shell loading / unloading mechanism, which comprises a shell clamp, a third X-axis sliding drive module, and a third Z-axis sliding drive module. The shell clamp is used to hold the shell; the third Z-axis sliding drive module is used to drive the shell clamp to slide along the Z-axis; and the third X-axis sliding drive module is used to drive the shell clamp to slide along the X-axis, so as to transport the shell to be assembled from the warehouse to the assembly position on the loading / unloading station, and to transport the assembled shell at that position back to the warehouse.

[0021] With the further configuration described above, the shell loading and unloading mechanism relies on the third Z-axis and third X-axis sliding drive module to drive the shell fixture to complete vertical lifting and horizontal translation operations. It can not only pick up shells to be assembled from the warehouse and transport them to the loading and unloading assembly station, but also transport the assembled finished shells back to the warehouse. The entire process of shell loading, finished product unloading and transfer is automated. It works in conjunction with the tooling station flow system to realize unmanned loading and unloading of shells, connect the preceding and following assembly processes, save the heavy labor of manually handling shells, and enable the entire assembly production line to form a closed-loop continuous production. Attached Figure Description

[0022] Figure 1 This is a structural diagram of a specific embodiment of the present utility model; Figure 2 This is a structural diagram of the planetary gear feeding and storage mechanism according to a specific embodiment of the present utility model; Figure 3 This is a structural diagram of the planetary gear storage unit according to a specific embodiment of the present utility model; Figure 4 This is a structural diagram of the pusher component according to a specific embodiment of the present utility model; Figure 5 This is a structural diagram of the planetary gear transmission assembly assembly mechanism according to a specific embodiment of the present utility model; Figure 6 This is a structural diagram of the tooling table according to a specific embodiment of the present utility model; Figure 7 This is a structural diagram of the drive shaft adjustment module according to a specific embodiment of the present utility model; Figure 8 This is a structural diagram of the sun gear and internal gear ring storage mechanism according to a specific embodiment of the present utility model; Figure 9 This is a structural diagram of an industrial robot according to a specific embodiment of the present utility model; Figure 10 This is a structural diagram of the shell loading and unloading mechanism according to a specific embodiment of the present utility model; Figure 11 This is a structural diagram of the planetary gear transmission assembly according to a specific embodiment of the present utility model; Figure 12 This is a structural diagram of the drive shaft component according to a specific embodiment of the present utility model.

[0023] In the diagram: 1. Planetary gear feeding and storage mechanism; 2. Sun gear and internal gear ring storage mechanism; 3. Industrial robot; 4. Planetary gear transmission assembly mechanism; 5. Shell loading and unloading mechanism; 6. Planetary gear storage unit; 7. Planetary gear feeding unit; 8. Tooling table; 9. First rotary drive module; 10. Drive shaft adjustment module; 11. Fixed table; 12. Vision inspection mechanism; 13. Carrying platform; 14. Storage cylinder; 15. Through slot; 16. Pushing component; 17. Telescopic cylinder; 18. Push rod; 19. Waiting position; 10. Planetary gear clamp; 12. First X-axis sliding drive module; 12. Second Z-axis sliding drive module; 12. Storage tray; 22. Second rotary drive module; 21. Sun gear mounting position; 23. Internal gear ring. The following components are included: placement position 212, multi-axis robotic arm 31, second X-axis sliding drive module 32, special gripper 311, six-dimensional force sensor 312, housing fixture 51, third X-axis sliding drive module 52, third Z-axis sliding drive module 53, assembly position 411, shaft hole 4111, blocking part 414, sun axis fixture 431, first Z-axis sliding drive module 432, rotation drive module 433, first telescopic jacking component 441, second telescopic jacking component 442, jacking body 443, vision inspection tool 451, Y-axis sliding drive module 452, planetary gear 100, sun gear 101, internal gear ring 102, drive shaft 103, housing 104, sun axis 1031, and planetary axis 1032. Detailed Implementation

[0024] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0025] like Figure 1-12 As shown, the present invention provides a planetary gear transmission assembly equipment, including a planetary gear feeding and storage mechanism 1, a sun gear and internal gear ring storage mechanism 2, an industrial robot 3, a planetary gear transmission assembly assembly mechanism 4, and a loading and unloading mechanism 5; each mechanism is arranged sequentially along the workpiece assembly process and is fixedly installed by a frame to form an automated assembly production line. Specifically, the planetary gear feeding and storage mechanism 1 is used to store multiple planetary gears 100 and can output the planetary gears 100 one by one; the planetary gear feeding and storage mechanism 1 includes a planetary gear storage unit 11 and a planetary gear feeding unit 12; the planetary gear storage unit 11 includes a loading platform 111, a storage cylinder 112 and a pusher 113, the storage cylinder 112 is vertically arranged on the loading platform 111, and can be used to stack and store multiple planetary gears 100; the bottom of the storage cylinder 112 has a bottom for storing its internal parts. The loading platform 111 has a material waiting position 114 at the outlet position corresponding to the through slot 1121 of the storage cylinder 112, through which a single planetary gear 100 passes. The pusher 113 is disposed on the loading platform 111 and is used to push the planetary gears 100 at the bottom of the storage cylinder 112 one by one to the material waiting position 114. The pusher 113 specifically includes a telescopic cylinder 1131 and a push rod 1132. The telescopic cylinder is a pneumatic push cylinder, an electric push cylinder, or a hydraulic push cylinder, and the push rod is connected to the telescopic cylinder. The telescopic end of the cylinder has a sliding fit between the push rod and the material platform. The telescopic cylinder drives the push rod to slide horizontally. Through the structural installation design, when the telescopic cylinder drives the push rod to retract, the push rod pushes the planetary gear at the bottom of the storage cylinder to the waiting position. After the telescopic cylinder drives the push rod to extend, the push rod leaves the through groove range, and the next planetary gear falls to the bottom of the storage cylinder by gravity, waiting for the next feeding operation. The planetary gear feeding unit 12 includes a planetary gear clamp 121, a first X-axis sliding drive module 122, and a second Z-axis sliding drive module 122. The planetary gear clamp 121 is used to clamp the planetary gear 100; the first X-axis sliding drive module 122 is used to drive the planetary gear clamp 121 to slide along the X direction to transfer the clamped planetary gear 100 between the waiting position 114 and the planetary gear assembly station; the second Z-axis sliding drive module 123 is used to drive the planetary gear clamp 121 to slide along the Z direction to press the planetary gear 100 onto the corresponding planetary shaft 1032 of the outer shell 104 on the planetary gear assembly station. Specifically, the first X-axis sliding drive module can be an X-axis linear slide module in conjunction with an X-axis servo motor. The X-axis linear slide module includes an X-axis linear guide and an X-axis servo slide. The X-axis linear guide is fixed on the frame and extends along the X-axis. The X-axis servo slide is slidably mounted on the X-axis linear guide. The output end of the X-axis servo motor is connected to the X-axis servo slide through a lead screw drive pair, driving the X-axis servo slide to reciprocate along the X-axis linear guide. The second Z-axis sliding drive module consists of a Z-axis linear guide, a Z-axis servo slide, a Z-axis servo motor, and a lead screw drive pair. Alternatively, the first Z-axis sliding drive module can be a linear electric cylinder, a pneumatic cylinder, or a hydraulic cylinder, with a planetary gear clamp located at its output end.

[0026] Specifically, the sun gear and internal gear ring storage mechanism 2 is used to store multiple sun gears 101 and internal gear rings 102; specifically, the sun gear and internal gear ring storage mechanism 2 includes a storage tray 21 and a second rotary drive module 22. The storage tray 21 has multiple sun gear mounting positions 211 and internal gear ring mounting positions 212 arranged circumferentially. The multiple sun gear mounting positions are arranged at uniform intervals circumferentially, and the multiple internal gear ring mounting positions are also arranged at uniform intervals circumferentially. The sun gear mounting positions are positioning grooves that match the bottom shape of the sun gear to achieve precise positioning of the sun gear, and the internal gear ring mounting positions are those that match the internal gear ring. The bottom shape-matched positioning groove enables precise positioning of the internal gear ring; the second rotary drive module 22 is used to drive the storage tray 21 to rotate. Specifically, a geared servo motor can be used as the rotary drive module. The output shaft of the geared servo motor is fixedly connected to the center of the storage tray, which can precisely control the rotation angle of the storage tray and rotate the corresponding placement position to the picking position as needed. Alternatively, a divider can be used in conjunction with the rotary motor to drive the storage tray to perform intermittent indexing rotation. The rotation of the storage tray rotates the corresponding sun gear or internal gear ring to be grasped into the grasping operation range of the industrial robot, making it convenient for the robot to pick up the material at a fixed point.

[0027] Specifically, the planetary gear transmission assembly assembly mechanism 4 includes a tooling table 41, a first rotary drive module 42, and a drive shaft adjustment module 43. The tooling table 41 has multiple assembly positions 411 along its circumference. Each assembly position is a positioning groove that matches the bottom shape of the housing, achieving precise positioning of the housing. The bottom wall of each assembly position 411 has a corresponding shaft hole 4111 through which the sun shaft 1031 passes. The housing 104, pre-installed with the drive shaft 103, is placed on the assembly position 411, and the drive shaft 103... The lower end of the sun shaft 1031 passes through the shaft hole 4111 and exits the tooling table 41; the first rotary drive module 42 is used to drive the tooling table 41 to rotate, and drive each assembly position 411 to flow sequentially to the loading and unloading position, the planetary gear assembly position, and the sun gear and internal gear ring assembly position. Specifically, a geared servo motor can be used as the rotary drive module. The output shaft of the geared servo motor is fixedly connected to the tooling table, which can accurately control the rotation angle of the tooling table. Alternatively, a divider can be used in conjunction with the rotary motor to drive the tooling table to perform intermittent indexing rotation. The active shaft adjustment module 43 corresponds to the planetary gear assembly station. The active shaft adjustment module 43 acts on the lower end of the sun shaft 1031 that passes through the tooling table 41 and drives the active shaft 103 to rotate and adjust its position, so that each planetary shaft 1032 on the active shaft 103 rotates circumferentially to the angle position to be assembled. The planetary gear feeding and storage mechanism 1 is used to assemble the planetary gears 100 one by one onto the planetary shafts 1032 at the angle position to be assembled. Specifically, the active shaft adjustment module 43 includes a sun shaft clamp 431, a first Z-axis sliding drive module 432, and a rotation drive module 433; the first Z-axis sliding drive... The moving module 432 is used to drive the sun axis clamp 431 to slide along the Z-axis below the aligned active shaft 103. The first Z-axis sliding drive module consists of a Z-axis linear guide, a Z-axis servo slide, a Z-axis servo motor, and a lead screw drive pair, or the first Z-axis sliding drive module is a linear electric cylinder, pneumatic cylinder, or hydraulic cylinder. The sun axis clamp 431 is a pneumatic or electric gripper used to clamp the lower end of the sun axis 1031 of the active shaft 103. The rotation drive module 433 can be a rotary motor used to drive the sun axis clamp 431 to drive the active shaft 103 to rotate around the vertical axis to adjust the circumferential rotation angle of the planetary axis 1032. Of course, the lower end of the sun axis can be rotated by a suction cup or magnetic attraction without the clamp.

[0028] Specifically, the planetary gear transmission assembly mechanism 4 further includes a fixed platform 44, and the tooling table 41 is rotatably disposed relative to the fixed platform 44; the fixed platform 44 is provided with a first telescopic pushing member 441 and a second telescopic pushing member 442 corresponding to the planetary gear assembly position and the sun gear and internal gear ring assembly position, respectively. Each telescopic pushing member is a linear electric cylinder, pneumatic cylinder or hydraulic cylinder, and the telescopic pushing member is provided with a telescopic pushing body 443; the tooling table 41 is provided with a blocking part 414 corresponding to the assembly position 411, and the blocking part is integrally or detachably mounted on the tooling table 41. Tooling table; when the outer shell 104 moves with the tooling table 41 to the planetary gear assembly station and the sun gear and internal gear ring assembly station, the pusher body 443 corresponding to the first telescopic pusher member 441 and the second telescopic pusher member 442 extends and presses against the side wall of the outer shell 104. The pusher body 443 cooperates with the blocking part 414 to clamp and position the two side walls of the outer shell 104. Of course, the blocking part can be omitted, and the telescopic pusher members arranged symmetrically on both sides can extend synchronously to clamp and position the outer shell from both sides; or the telescopic pusher members can cooperate with the groove wall of the assembly position to clamp and position the outer shell. Specifically, the planetary gear transmission assembly assembly mechanism 4 is equipped with a vision inspection mechanism 45, which corresponds to the planetary gear assembly station. The vision inspection mechanism 45 includes a vision inspection tool 451 and a Y-axis sliding drive module 452. The Y-axis sliding drive module 452 is used to drive the vision inspection tool 451 to slide along the Y direction above the aligned housing 104. The Y-axis sliding drive module includes a Y-axis linear guide and a Y-axis servo slide. The Y-axis linear guide is fixed on the frame and extends along the Y direction. The Y-axis servo slide is slidably mounted on the Y-axis linear guide. The output end of the Y-axis servo motor is connected to the Y-axis servo motor via a lead screw drive pair. The system connects to a servo slide, driving the Y-axis servo slide to reciprocate along the Y-axis linear guide rail. The vision inspection tool 451 includes an industrial camera and a light source. The industrial camera and the light source are vertically mounted on the Y-axis servo slide via a bracket. The industrial camera lens faces the worktable surface, and the light source is a ring light source, arranged around the industrial camera lens to provide uniform illumination for inspection. The industrial camera is electrically connected to the equipment's overall control system to realize the transmission and processing of inspection signals. It is used to detect the angular position of the planetary axis 1032 and to provide feedback signals to control the active shaft adjustment module 43 to drive the active shaft 103 to rotate in order to adjust the planetary axis 1032 to the angular position to be assembled.

[0029] Specifically, the outer shell 104, after the planetary gear 100 assembly is completed, is transferred to the sun gear and internal gear ring assembly station via the tooling table 41. The industrial robot 3 takes the sun gear 101 and internal gear ring 102 from the sun gear and internal gear ring storage mechanism 2 and assembles the sun gear 101 and internal gear ring 102 into the corresponding outer shell 104 to form a planetary gear transmission assembly.

[0030] Specifically, the industrial robot 3 includes a multi-axis robotic arm 31 and a second X-axis sliding drive module 32. The second X-axis sliding drive module 32 is used to drive the multi-axis robotic arm 31 to slide and transport workpieces along the X-axis. The second X-axis sliding drive module includes an X-axis linear guide and an X-axis servo slide. The X-axis linear guide is fixed on the frame and extends along the X-axis. The X-axis servo slide is slidably mounted on the X-axis linear guide. The output end of the X-axis servo motor is connected to the X-axis servo slide through a lead screw drive pair, driving the X-axis servo slide to reciprocate along the X-axis linear guide. The end of the multi-axis robotic arm 31 is equipped with a special gripper 311. The special gripper is replaceable to grip the sun gear 101 and the internal gear ring 102 respectively. The gripper can be a pneumatic finger gripper, a three-jaw chuck gripper, or a parallel gripper gripper, and can be selected according to the external dimensions of the blank shaft and the active shaft to ensure gripping stability; the multi-axis robotic arm can be a six-axis robotic arm, fixedly mounted on the top of the X-axis servo slide, and moves synchronously along the X-axis with the slide; or it can be directly driven by a linear electric cylinder, pneumatic cylinder, or hydraulic cylinder to slide along the X-axis, with stable power output and controllable sliding accuracy, which can adapt to the workpiece handling needs of different distances; the multi-axis robotic arm 31 is equipped with a six-dimensional force sensor 312, which is used to collect the torque of the workpiece held by the special gripper during assembly and feed back the torque value to adjust the angle of the multi-axis robotic arm 31.

[0031] Specifically, the housing loading and unloading mechanism 5 includes a housing clamp 51, a third X-axis sliding drive module 52, and a third Z-axis sliding drive module 53. The housing clamp 51 is used to clamp the housing 104; the third Z-axis sliding drive module 53 is used to drive the housing clamp 51 to slide along the Z direction; the third X-axis sliding drive module 52 is used to drive the housing clamp 51 to slide along the X direction, so as to transport the housing 104 to be assembled from the warehouse to the assembly position 411 on the loading and unloading station, and can transport the assembled housing 104 at that position back to the warehouse. The third X-axis sliding drive module has the same structure as the first X-axis sliding drive module and is set along the X direction; the third Z-axis sliding drive module has the same structure as the first Z-axis sliding drive module and is vertically mounted on the X-direction servo slide of the X-axis sliding drive module; the housing clamp has a pneumatic gripper structure and is fixed to the output end of the second Z-axis sliding drive module; the warehouse is set on one side of the frame and is used to stack housings pre-installed with drive shaft components and to store assembled housings.

[0032] The above-mentioned clamps are pneumatic or electric grippers, which can adjust the clamping opening according to the size of the workpiece to be clamped, stably grip workpieces of different specifications, ensure that the workpieces will not fall off during transportation and assembly, adapt to the assembly requirements of different models of planetary gear transmission assemblies, and improve the adaptability of the equipment.

[0033] The X-axis, Y-axis, and Z-axis are perpendicular to each other, forming a Cartesian coordinate system suitable for the three-dimensional layout of the production line. Each sliding drive module can move independently along a set direction and is electrically connected to the overall equipment control system. It can complete each action sequentially according to a preset program, realizing fully automated processing and assembly.

[0034] The planetary gear transmission assembly equipment in this embodiment achieves automated assembly of planetary gears, sun gears, internal gear rings, and pre-installed drive shaft components by coordinating planetary gear feeding and storage mechanisms, sun gear and internal gear ring storage mechanisms, industrial robots, planetary gear transmission assembly mechanisms, and loading and unloading mechanisms. The entire process requires no manual intervention, has high assembly accuracy and stable production efficiency, and can meet the needs of mass automated production of planetary gear transmission assemblies, reducing the labor intensity and assembly error rate of manual assembly.

[0035] The specific working principle is as follows: Before assembly, the housing with the pre-installed drive shaft is stacked in the warehouse on one side of the housing loading and unloading mechanism. The planetary gears are stacked and stored in the storage cylinder of the planetary gear feeding storage mechanism. The sun gear and the internal gear ring are respectively placed in the sun gear placement position and the internal gear ring placement position of the storage tray of the sun gear and internal gear ring storage mechanism. During operation, the assembly position on the tooling table corresponds to the loading and unloading position: the third X-axis sliding drive module of the shell loading and unloading mechanism cooperates with the third Z-axis sliding drive module to drive the shell fixture to move to the warehouse to pick up the shell pre-installed with the active shaft component, and transfer it to the assembly position of the loading and unloading position to complete the positioning. The lower end of the sun shaft of the active shaft component passes through the shaft hole of the bottom wall of the assembly position and exits from under the tooling table. The first rotary drive module drives the tooling table to rotate, transferring the assembly position containing the outer shell to the planetary gear assembly position. At this time, the first telescopic pusher extends from the corresponding position, and the pusher, in conjunction with the blocking part on the tooling table, clamps and positions the outer shell, completing the positioning and fixation. Subsequently, the Y-axis sliding drive module of the vision inspection mechanism drives the industrial camera to move above the outer shell, detects the circumferential angle position of the planetary shaft on the drive shaft, and feeds the detection signal back to the drive shaft adjustment module. The first Z-axis sliding drive module of the drive shaft adjustment module drives the sun shaft clamp to rise along the Z direction, clamping the lower end of the sun shaft protruding from the tooling table. The rotation drive module drives the sun shaft clamp to rotate, thereby driving the entire drive shaft to rotate, adjusting the individual planetary shaft to the preset angle position for planetary gear assembly. At the same time... The planetary gear feeding and storage mechanism completes the planetary gear loading: the telescopic cylinder drives the push rod to retract, pushing the planetary gear at the bottom of the storage cylinder to the waiting position on the loading platform. Then, the telescopic cylinder drives the push rod to extend, and the push rod disengages from the through groove at the bottom of the storage cylinder. The next planetary gear falls to the bottom of the storage cylinder by gravity, waiting for the next push. Afterward, the first X-axis sliding drive module drives the planetary gear clamp to move along the X direction to the waiting position. The second Z-axis sliding drive module drives the planetary gear clamp to descend and clamp the planetary gear. Then, it moves back along the X direction to the top of the planetary gear assembly station. The second Z-axis sliding drive module drives the planetary gear clamp to press down, pressing the planetary gear onto the adjusted planetary shaft. The above planetary shaft angle adjustment and planetary gear picking and pressing actions are repeated until all planetary shafts of the housing have completed planetary gear assembly. After the planetary gear assembly is completed, the first telescopic jacking component retracts and releases the outer shell. The first rotary drive module drives the tooling table to continue rotating, transferring the outer shell with the planetary gear assembly completed to the sun gear and internal gear ring assembly station. The corresponding second telescopic jacking component extends and clamps and positions the outer shell. The multi-axis robotic arm drives the special gripper to move to the material picking position of the sun gear and internal gear ring storage mechanism, and successively picks up the corresponding sun gear and internal gear ring, assembling them into the inner shell in sequence to complete the overall assembly of the planetary gear transmission assembly. After assembly, the pushing body of the second telescopic pushing component retracts and releases the outer shell. The first rotary drive module drives the tooling table to continue rotating, transferring the assembled planetary gear transmission assembly back to the loading and unloading station. The outer shell clamp of the outer shell loading and unloading mechanism picks up the assembled finished product and transports it back to the corresponding warehouse for storage, completing the automated assembly process of a finished product. The above actions can be repeated in subsequent cycles to achieve continuous batch automated assembly production.

[0036] It should be noted that in the description of this utility model, all directional indicators (such as up, down, forward, backward, etc.) are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0037] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a number" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," and "installation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A planetary gear transmission assembly assembly equipment, characterized in that, It includes a planetary gear feeding and storage mechanism (1), a sun gear and internal gear ring storage mechanism (2), an industrial robot (3), and a planetary gear transmission assembly assembly mechanism (4); The planetary gear feeding and storage mechanism (1) is used to store multiple planetary gears (100) and can output the planetary gears (100) one by one; The sun gear and internal gear ring storage mechanism (2) is used to store multiple sun gears (101) and internal gear rings (102); The planetary gear transmission assembly assembly mechanism (4) includes a tooling table (41), a first rotary drive module (42), and a drive shaft adjustment module (43). The tooling table (41) has multiple assembly positions (411) in the circumferential direction. The bottom wall of each assembly position (411) is provided with a shaft hole (4111) through which the sun shaft (1031) can pass. The housing (104) pre-installed with the drive shaft (103) is placed on the assembly position (411), and the lower end of the sun shaft (1031) of the drive shaft (103) passes through the shaft hole (4111) and exits the tooling table (41). The first rotary drive module (42) is used to drive the tooling table (41) to rotate, and drive each assembly position (411) to flow sequentially to the loading and unloading station, the planetary gear assembly station, and the sun gear and internal gear ring assembly station. The active shaft adjustment module (43) corresponds to the planetary gear assembly station. The active shaft adjustment module (43) acts on the lower end of the sun shaft (1031) that passes through the tooling table (41) and drives the active shaft (103) to rotate and adjust its position so that each planetary shaft (1032) on the active shaft (103) rotates circumferentially to the angle position to be assembled in sequence. The planetary gear feeding and storage mechanism (1) is used to assemble the planetary gears (100) one by one onto the planetary shaft (1032) at the angle position to be assembled. The outer shell (104) after the planetary gear (100) assembly is completed is transferred to the sun gear and internal gear ring assembly station via the tooling table (41). The industrial robot (3) takes the sun gear (101) and internal gear ring (102) from the sun gear and internal gear ring storage mechanism (2) and assembles the sun gear (101) and internal gear ring (102) into the corresponding outer shell (104) to form a planetary gear transmission assembly.

2. The planetary gear transmission assembly assembly equipment according to claim 1, characterized in that, The active shaft adjustment module (43) includes a sun axis clamp (431), a first Z-axis sliding drive module (432), and a rotation drive module (433). The first Z-axis sliding drive module (432) is used to drive the sun axis clamp (431) to slide along the Z direction below the aligned active shaft (103). The sun axis clamp (431) is used to clamp the lower end of the sun axis (1031) of the active shaft (103). The rotation drive module (433) is used to drive the sun axis clamp (431) to drive the active shaft (103) to rotate around the vertical axis to adjust the circumferential rotation angle of the planetary axis (1032).

3. The planetary gear transmission assembly assembly equipment according to claim 1, characterized in that, The planetary gear transmission assembly mechanism (4) further includes a fixed platform (44), and the tooling platform (41) is rotatably arranged relative to the fixed platform (44). The fixed platform (44) is provided with a first telescopic pusher (441) and a second telescopic pusher (442) corresponding to the planetary gear assembly station, the sun gear and the internal gear ring assembly station, respectively. Each telescopic pusher is provided with a telescopic pusher body (443). The tooling platform (41) is provided with a blocking part (414) corresponding to the assembly position (411). When the outer shell (104) moves with the tooling platform (41) to the planetary gear assembly station, the sun gear and the internal gear ring assembly station, the pusher body (443) corresponding to the first telescopic pusher (441) and the second telescopic pusher (442) extends out and presses against the side wall of the outer shell (104). The pusher body (443) and the blocking part (414) cooperate to clamp and position the two side walls of the outer shell (104).

4. The planetary gear transmission assembly assembly equipment according to claim 1, 2, or 3, characterized in that, The planetary gear transmission assembly assembly mechanism (4) is equipped with a vision inspection mechanism (45), which corresponds to the planetary gear assembly station. The vision inspection mechanism (45) includes a vision inspection tool (451) and a Y-axis sliding drive module (452). The Y-axis sliding drive module (452) is used to drive the vision inspection tool (451) to slide along the Y direction above the aligned housing (104). The vision inspection tool (451) is used to detect the angular position of the planetary shaft (1032) and to feed back a signal to control the active shaft adjustment module (43) to drive the active shaft (103) to rotate in order to adjust the planetary shaft (1032) to the angular position to be assembled.

5. The planetary gear transmission assembly assembly equipment according to claim 1, 2, or 3, characterized in that, The planetary gear feeding and storage mechanism (1) includes a planetary gear storage unit (11) and a planetary gear feeding unit (12); the planetary gear storage unit (11) includes a loading platform (111), a storage cylinder (112), and a pusher (113). The storage cylinder (112) is vertically arranged on the loading platform (111) and can accommodate multiple planetary gears (100) stacked together; the bottom of the storage cylinder (112) has a through slot (1121) for the passage of a single planetary gear (100) loaded inside it; the loading platform (111) has a waiting position (114) at the outlet position corresponding to the through slot (1121) of the storage cylinder (112); the pusher (113) is arranged on the loading platform (111) and is used to push the planetary gears at the bottom of the storage cylinder (112) to the storage cylinder (112). The planetary gears (100) are pushed out one by one to the waiting position (114); the planetary gear feeding unit (12) includes a planetary gear clamp (121), a first X-axis sliding drive module (122) and a second Z-axis sliding drive module (123). The planetary gear clamp (121) is used to clamp the planetary gears (100); the first X-axis sliding drive module (122) is used to drive the planetary gear clamp (121) to slide along the X direction to transfer the clamped planetary gears (100) between the waiting position (114) and the planetary gear assembly station; the second Z-axis sliding drive module (123) is used to drive the planetary gear clamp (121) to slide along the Z direction to press the planetary gears (100) onto the corresponding planetary shaft (1032) of the outer shell (104) on the planetary gear assembly station.

6. The planetary gear transmission assembly assembly equipment according to claim 1, 2, or 3, characterized in that, The sun gear and internal gear ring storage mechanism (2) includes a storage tray (21) and a second rotary drive module (22). The storage tray (21) has multiple sun gear mounting positions (211) and internal gear ring mounting positions (212) in the circumferential direction. The second rotary drive module (22) is used to drive the storage tray (21) to rotate.

7. The planetary gear transmission assembly assembly equipment according to claim 1, 2, or 3, characterized in that, The industrial robot (3) includes a multi-axis robotic arm (31) and a second X-axis sliding drive module (32); the end of the multi-axis robotic arm (31) is equipped with a special gripper (311), which is used to grip the sun gear (101) or the internal gear ring (102); the second X-axis sliding drive module (32) is used to drive the multi-axis robotic arm (31) to slide and transport the workpiece along the X direction; a six-dimensional force sensor (312) is provided on the multi-axis robotic arm (31), which is used to collect the torque of the workpiece held by the special gripper during assembly and to feed back the torque value to adjust the angle of the multi-axis robotic arm (31).

8. The planetary gear transmission assembly assembly equipment according to claim 1, 2, or 3, characterized in that, It also includes a shell loading and unloading mechanism (5), which includes a shell clamp (51), a third X-axis sliding drive module (52) and a third Z-axis sliding drive module (53). The shell clamp (51) is used to clamp the shell (104); the third Z-axis sliding drive module (53) is used to drive the shell clamp (51) to slide along the Z direction; the third X-axis sliding drive module (52) is used to drive the shell clamp (51) to slide along the X direction, so as to transport the shell (104) to be assembled from the warehouse to the assembly position (411) on the loading and unloading station, and can transport the assembled shell (104) at the position back to the warehouse.

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