A kind of driven shaft assembly equipment of planetary gear transmission assembly

Abstract

The utility model relates to a kind of driven shaft assembly equipment of planetary gear transmission assembly, including blank shaft piece warehousing mechanism, industrial robot, lathe and driven shaft assembly mechanism, blank shaft piece is deposited by warehousing mechanism, industrial robot automatically completes workpiece transfer, blank shaft piece is integrated turning by lathe, processes sun shaft, planetary disc and planet shaft, forms integrated driven shaft assembly, driven shaft assembly mechanism includes shell positioning placement unit and shaft piece fixture adjustment unit, shell positioning placement unit vertically positions the shell of preloaded bearing, shaft piece fixture adjustment unit clamps and overturns driven shaft assembly adjustment to positive attitude;The driven shaft assembly of positive attitude and shell can be fed along vertical direction relatively, so that sun shaft is inserted into the inside of bearing in shell, planetary disc and planet shaft are located in the gear installation area of shell, complete the assembly of driven shaft assembly and shell.The scheme realizes the linkage of workpiece processing and assembly automation, simplifies process, improves assembly accuracy and overall production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of assembly production line technology, and in particular to an assembly equipment for the drive shaft of a planetary gear transmission assembly. 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, the existing structure has obvious shortcomings in processing and assembly: the drive shaft is mostly processed separately or formed by multiple clamping, and the relative positional accuracy of each planetary shaft and the sun shaft is difficult to guarantee, resulting in large cumulative processing errors; at the same time, there is no unified positioning benchmark during assembly, and the installation direction and positioning method of the sun shaft and planetary shaft are not standardized, which can easily lead to problems such as misalignment of the drive shaft and uneven meshing clearance of the planetary gears, resulting in poor transmission smoothness, high noise, and severe gear wear, affecting the service life and transmission accuracy of the assembly. Utility Model Content

[0004] The purpose of this utility model is to overcome the defects of the prior art by providing an assembly equipment for the drive shaft of a planetary gear transmission assembly, which realizes the automated connection between the integrated turning of the drive shaft and subsequent assembly, simplifies the processing and assembly process, and improves the assembly accuracy and production efficiency.

[0005] The technical solution of this utility model is: a drive shaft assembly equipment for a planetary gear transmission assembly, including a blank shaft storage mechanism, an industrial robot, a lathe, and a drive shaft assembly mechanism; The blank shaft storage mechanism is used to store blank shafts to be processed; The industrial robot is used to transport the blank shafts from the blank shaft storage mechanism to the machining station of the lathe. The lathe is used to integrally turn a blank shaft into a sun shaft, a planetary disk, and at least one planetary shaft located on the circumference of the planetary disk, thereby forming a drive shaft. The industrial robot is used to transport the drive shaft components that have been machined by a lathe to the drive shaft component assembly mechanism; The drive shaft assembly mechanism includes a housing positioning and placement unit and a shaft fixture adjustment unit. The housing positioning and placement unit is used to position the housing with the pre-installed bearing in a vertical position, so that the through-shaft channel corresponds to the area below the gear mounting area. The shaft fixture adjustment unit is used to receive and hold the processed drive shaft and can drive the drive shaft to rotate and adjust to a positive mounting position with the sun axis facing down and the planetary axis facing up. The positive mounting position drive shaft and housing can be fed relative to each other in the vertical direction, so that the sun axis is inserted into the bearing inside the housing, while the planetary disk and planetary axis are located in the gear mounting area at the top of the housing, thereby completing the assembly of the drive shaft and housing.

[0006] After adopting the above technical solution, the blank shaft storage mechanism achieves the orderly storage and stable supply of blank shafts to be processed. An industrial robot automates the transport of the blank shafts from the storage mechanism to the lathe machining station, replacing manual loading and reducing human error and labor intensity. The lathe performs integral turning of the blank shafts, directly machining the sun shaft, planetary disks, and circumferential planetary shafts. Compared to the traditional method of separate machining followed by assembly, this simplifies the machining process, improves the relative positional accuracy and connection strength of the sun shaft and each planetary shaft, and avoids assembly gap problems caused by separate machining. The industrial robot further transports the machined drive shafts to the drive shaft assembly mechanism, realizing the integration of machining and assembly. Seamless integration of the assembly process reduces material transfer time. In the drive shaft assembly mechanism, the housing positioning and placement unit positions the pre-installed bearing housing in a vertical position, ensuring precise alignment between the shaft passage and the gear mounting area, providing a stable positioning foundation for drive shaft assembly. The shaft fixture adjustment unit receives and flips the drive shaft to a positive mounting position with the sun shaft facing down and the planetary shaft facing up. Combined with the vertical relative feed, the sun shaft is precisely inserted into the inner side of the housing bearing, ensuring high coaxiality between the sun shaft and the bearing. The planetary disk and planetary shaft fall synchronously into the upper gear mounting area of ​​the housing, achieving precise and rapid assembly of the drive shaft and the housing. This improves overall assembly efficiency and product consistency, and reduces the error rate of manual assembly.

[0007] A further feature of this invention is that the shaft clamp adjustment unit includes a shaft clamp and a flip drive module; the shaft clamp is installed on the power output end of the flip drive module, and the shaft clamp is used to clamp the active shaft; the flip drive module is used to drive the shaft clamp to rotate the active shaft 180° around the horizontal axis so that the inverted active shaft is flipped to the upright position.

[0008] By employing the aforementioned further configuration, precise 180° attitude adjustment of the active shaft is achieved, ensuring a stable and reliable assembly posture with the sun axis facing down and the planetary axes facing up. The shaft fixture securely holds the active shaft, preventing displacement or wobbling during the flipping process and ensuring the positions of all components of the active shaft remain unchanged during attitude adjustment. The flipping drive module drives the shaft fixture to precisely flip 180° around the horizontal axis with controllable motion precision. This allows for the stable flipping of the originally inverted active shaft to its upright position—the sun axis flipping from upward to downward, and the planetary axes flipping from downward to upward—providing a prerequisite for precise docking of the sun axis with the housing bearing. The combination of this flipping structure and the shaft fixture enables automated attitude adjustment of the active shaft, replacing manual flipping operations, improving the efficiency and consistency of attitude adjustment, and avoiding angular deviations caused by manual flipping, thus ensuring assembly accuracy.

[0009] A further feature of this invention is that the outer casing positioning and placement unit includes an outer casing positioning platform, a first Y-axis sliding drive module, and a first Z-axis sliding drive module. The platform of the outer casing positioning platform has an assembly position for positioning the outer casing. The first Y-axis sliding drive module is used to drive the outer casing positioning platform to slide along the Y direction to below the shaft fixture. The first Z-axis sliding drive module is used to drive the outer casing positioning platform to slide along the Z direction, so as to lift the outer casing and insert the sun shaft into the inner side of the bearing inside the outer casing.

[0010] With the above-mentioned further configuration, the housing positioning platform precisely positions the housing through the assembly position on the platform, ensuring that the housing's through-shaft channel and gear mounting area are fixed, providing an accurate docking benchmark for the insertion of the drive shaft. The first Y-axis sliding drive module drives the housing positioning platform to slide along the Y-axis to below the shaft fixture, achieving horizontal alignment between the housing and the drive shaft, eliminating horizontal assembly deviations. When the housing positioning platform slides out from below the shaft fixture, it will not be blocked by the shaft fixture above, facilitating the loading and unloading operations of the housing positioning platform by workers or loading mechanisms, avoiding spatial interference. The first Z-axis sliding drive module drives the housing positioning platform to rise along the Z-axis, causing the housing to feed upwards, allowing the sun shaft to be smoothly inserted into the bearing inside the through-shaft channel. The feed stroke is controllable, and the insertion accuracy is higher. No additional lifting or lowering of the drive shaft is required. This vertical feeding method precisely matches the downward posture of the drive shaft, achieving gapless docking between the sun shaft and the bearing, improving assembly accuracy and stability, and simultaneously realizing automatic adjustment of the housing position to adapt to the assembly requirements of housings of different sizes.

[0011] A further feature of this invention is that the active shaft assembly mechanism is equipped with a vision inspection mechanism; the first Y-axis sliding drive module is used to drive the housing positioning stage along the Y direction to slide back and forth between the detection area of ​​the vision inspection mechanism and the lower part of the shaft fixture; the vision inspection mechanism is used to detect whether the housing is accurately placed on the housing positioning stage, and when the housing positioning stage carries the assembled housing to slide below the detection area of ​​the vision inspection mechanism, the vision inspection mechanism is used to detect the assembly integrity of the active shaft and the housing.

[0012] With the above-mentioned further configuration, the first Y-axis sliding drive module drives the housing positioning stage to slide back and forth between the vision inspection area and the shaft fixture, realizing the automated flow of housing loading and finished product inspection. This avoids spatial interference and eliminates the need for manual intervention at inspection nodes. When the housing positioning stage places the housing, the vision inspection mechanism can detect whether the housing is placed in place in real time, promptly identify loading errors and provide feedback, and avoid assembly failures caused by housing positioning errors. When the housing positioning stage slides with the assembled housing under the inspection area, the vision inspection mechanism can accurately detect the assembly position and connection status of the active shaft and the housing, determine whether the assembly is complete, and promptly reject unqualified products, thereby improving the fault tolerance and product qualification rate of the overall assembly process.

[0013] A further feature of this invention includes a shell loading / unloading mechanism, which comprises a shell clamp, an X-axis sliding drive module, and a second Z-axis sliding drive module. The shell clamp is used to hold the shell; the second Z-axis sliding drive module is used to drive the shell clamp to slide along the Z-axis; and the 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 held on the shell loading / unloading platform to the shell positioning stage, and to transport the shell assembled on the shell positioning stage back to the shell loading / unloading platform.

[0014] With the above-mentioned further configuration, the outer casing clamp securely grips the outer casing, ensuring that it does not fall off or shift during handling. The second Z-axis sliding drive module drives the outer casing clamp to slide along the Z-axis, realizing the loading and unloading of the outer casing and adapting to the height difference in handling the outer casing from the loading platform to the positioning table. The X-axis sliding drive module drives the outer casing clamp to slide along the Y-axis, completing the automated transfer of the outer casing between the outer casing loading / unloading platform and the outer casing positioning table. At the same time, the assembled outer casing can be transported back from the positioning table to the loading platform, realizing the closed-loop flow of outer casing materials, reducing the amount of manual handling and material transfer time, and improving the material flow efficiency of the overall assembly production line.

[0015] A further feature of this invention is that the blank shaft storage mechanism includes a blank shaft material tray and a rotary drive module. The blank shaft material tray has multiple blank shaft placement positions on its circumference. The blank shafts are placed vertically upside down on the blank shaft placement positions. The rotary drive module is used to drive the blank shaft material tray to rotate.

[0016] The above-mentioned further configuration aims to achieve orderly, batch storage and automated supply of raw shaft blanks, ensuring the continuity of the material loading process. The raw shaft blank tray has multiple circumferential placement positions, allowing for the simultaneous storage of multiple raw shaft blanks, achieving batch storage and reducing the frequency of frequent material loading. A rotary drive module drives the raw shaft blank tray to rotate, sequentially rotating the raw shaft blanks from different placement positions to the gripping position of the industrial robot, achieving automated supply of raw shaft blanks, replacing manual one-by-one material handling, improving the efficiency and continuity of raw shaft blank loading. Simultaneously, the multiple workstations design can accommodate the classified storage of different batches of raw shaft blanks, enhancing the flexibility of warehousing and material loading.

[0017] A further feature of this invention is that the industrial robot includes a multi-axis robotic arm and a second Y-axis sliding drive module; the end of the multi-axis robotic arm is equipped with a special gripper, which is used to grip a blank shaft or a processed active shaft; the second Y-axis sliding drive module is used to drive the multi-axis robotic arm to slide and transport workpieces along the Y direction.

[0018] With the above-mentioned further configuration, the multi-axis robotic arm, in conjunction with a dedicated end effector gripper, can accurately grasp raw shaft components and active shaft components, adapting to the grasping needs of components with different shapes and improving the stability and accuracy of grasping. The second Y-axis sliding drive module drives the multi-axis robotic arm to slide along the Y-axis. Combined with the multi-degree-of-freedom motion of the multi-axis robotic arm, the industrial robot can move flexibly between the raw shaft component storage mechanism, the lathe processing station, and the active shaft component assembly mechanism, completing the automated handling and transfer of workpieces, replacing the tedious operation of manual handling, improving handling efficiency and accuracy, and enhancing the flexibility and adaptability of the overall automated production line. Attached Figure Description

[0019] 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 blank shaft storage mechanism according to a specific embodiment of the present utility model; Figure 3 This is a structural diagram of an industrial robot according to a specific embodiment of the present utility model; Figure 4 This is a structural diagram of the drive shaft assembly mechanism and vision inspection mechanism according to a specific embodiment of the present utility model; Figure 5 This is a structural diagram of the drive shaft component according to a specific embodiment of the present utility model; Figure 6 This is a structural diagram of the outer shell positioning and placement unit according to a specific embodiment of the present utility model; Figure 7 This is a structural diagram of the shell loading and unloading mechanism according to a specific embodiment of the present utility model.

[0020] In the diagram: 1. Raw shaft storage mechanism; 2. Industrial robot; 3. Lathe; 4. Active shaft assembly mechanism; 10. Raw shaft; 100. Active shaft; 101. Sun shaft; 102. Planetary disk; 103. Planetary shaft; 41. Housing positioning and placement unit; 42. Shaft fixture adjustment unit; 200. Housing; 201. Through shaft channel; 202. Gear mounting area; 300. Shaft fixture; 421. Tilting drive module; 422. Housing positioning platform; 411. Assembly position; 4111. First Y-axis sliding drive module; 412. First Z-axis sliding drive module; 413. Vision inspection mechanism; 6. Housing loading and unloading mechanism; 7. Housing fixture; 71. X-axis sliding drive module; 72. Second Z-axis sliding drive module; 73. Raw shaft material tray; 11. Rotation drive module; 12. Raw shaft placement position; 111. Multi-axis robotic arm; 21. Second Y-axis sliding drive module; 22. Special gripper; 211. Detailed Implementation

[0021] 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.

[0022] like Figure 1-7 As shown, the present invention provides a planetary gear transmission assembly equipment for the drive shaft, which includes a blank shaft storage mechanism 1, an industrial robot 2, a lathe 3, a drive shaft assembly mechanism 4, a vision inspection mechanism 6, and a housing loading and unloading mechanism 7. The mechanisms are arranged sequentially along the workpiece processing and assembly process and are fixedly installed by a frame to form an automated processing and assembly production line. Specifically, the blank shaft storage mechanism 1 is used to store blank shafts 10 to be processed. The blank shaft storage mechanism 1 includes a blank shaft tray 11 and a rotary drive module 12. The blank shaft tray 11 is disc-shaped and has multiple blank shaft placement positions 111 on its circumference. The blank shaft placement positions can be positioning grooves or positioning bosses for limiting the blank shafts. The blank shafts 10 are placed vertically upside down on the blank shaft placement positions 111. The rotary drive module 12 can be a servo motor with a reducer or a divider with a rotary motor. The rotary motor drives the divider to drive the blank shaft tray to perform intermittent indexing rotation, thereby driving the blank shaft tray 11 to rotate uniformly around the vertical central axis, so that the blank shafts are sequentially rotated to the loading position. Specifically, the industrial robot 2 is used to transport the blank shaft 10 from the blank shaft storage mechanism 1 to the machining station of the lathe 3. The industrial robot 2 includes a multi-axis robotic arm 21, a dedicated gripper, and a second Y-axis sliding drive module 22. The end of the multi-axis robotic arm 21 is equipped with a dedicated gripper 211, which is used to grip the blank shaft 10 or the machined active shaft 100. The dedicated 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 second Y-axis sliding drive module 22 can be used in conjunction with a Y-axis linear slide module. The Y-axis servo motor and Y-axis linear slide module include 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-axis. 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 slide through a lead screw drive pair, driving the Y-axis servo slide to reciprocate along the Y-axis linear guide. The multi-axis robotic arm 21 can be a six-axis robotic arm, fixedly mounted on the top of the Y-axis servo slide, moving synchronously along the Y-axis with the slide. Alternatively, the multi-axis robotic arm can be directly driven to slide along the Y-axis by a linear electric cylinder, pneumatic cylinder, or hydraulic cylinder, etc. The power output is stable, the sliding accuracy is controllable, and it can adapt to the workpiece handling needs of different distances. Specifically, the lathe 3 is a CNC lathe with an automatic clamping chuck. The machining station corresponds to the transport path of the industrial robot. The lathe's turning tools can perform integrated turning on the blank shaft according to a preset program, directly forming the sun shaft 101, planetary disk 102, and multiple planetary shafts 103 (three or more planetary shafts) evenly distributed in the circumference on a single blank shaft, forming an integrated turning active shaft 100 structure without the need for subsequent splicing, ensuring the overall structural strength and accuracy of the workpiece. Specifically, the industrial robot 2 is used to transport the drive shaft 100, which has been processed by the lathe 3, to the drive shaft assembly mechanism 4; Specifically, the drive shaft assembly mechanism 4 includes a housing positioning and placement unit 41 and a shaft clamp adjustment unit 42. The housing positioning and placement unit 41 is used to position the housing 200 with the pre-installed bearing 300 in a vertical position, so that the through-shaft channel 201 corresponds to the lower part of the gear mounting area 202. The shaft clamp adjustment unit 42 is used to receive and clamp the processed drive shaft 100, and can drive the drive shaft 100 to rotate and adjust to a positive mounting position with the sun shaft 101 facing down and the planetary shaft 103 facing up. The positive mounting position of the drive shaft 100 and the housing 200 can be fed relative to each other in the vertical direction, so that the sun shaft 101 is inserted into the inside of the bearing 300 in the housing 200, while the planetary disk 102 and the planetary shaft 103 are located in the gear mounting area 202 at the upper part of the housing 200, thereby completing the assembly of the drive shaft 100 and the housing 200. The outer shell positioning and placement unit 41 includes an outer shell positioning platform 411, a first Y-axis sliding drive module 412, and a first Z-axis sliding drive module 413. The outer shell positioning platform 411 has an assembly position 4111 on its surface for positioning the outer shell 200. The assembly position is a positioning groove that matches the bottom shape of the outer shell, achieving precise positioning of the outer shell and keeping it in a vertical position. The through-shaft channel for the pre-installed bearing inside the outer shell is coaxially aligned with the upper gear mounting area, corresponding to the assembly path of the drive shaft component. The first Y-axis sliding drive module 412 drives the outer shell positioning platform 411 to slide along the Y direction to below the shaft component clamp 421. The first Y-axis sliding drive module and the second Y-axis sliding drive module have the same structure, both consisting of a Y-axis linear guide rail, The first Z-axis sliding drive module consists of a Y-axis servo slide, a Y-axis servo motor, and a lead screw drive. The Z-axis linear guide is vertically fixed on the Y-axis servo slide of the first Y-axis sliding drive module. The housing positioning platform is horizontally fixed on the top of the Z-axis servo slide. Alternatively, the first Z-axis sliding drive module can be a linear electric cylinder, pneumatic cylinder, or hydraulic cylinder. The housing positioning platform is located at its output end and can directly drive the housing positioning platform to rise and fall vertically along the Z-axis. The first Z-axis sliding drive module 413 is used to drive the housing positioning platform 411 to slide along the Z-axis so that the housing 200 is raised so that the upper sun axis 101 is inserted into the bearing 300 inside the housing 200. The shaft clamp adjustment unit 42 includes a shaft clamp 421 and a flip drive module 422. The flip drive module specifically consists of a flip servo motor and a horizontal rotating shaft. The flip servo motor is fixedly mounted on the frame of the active shaft assembly mechanism. One end of the horizontal rotating shaft is connected to the output end of the flip servo motor, and the other end is fixedly connected to the shaft clamp. The shaft clamp 421 is used to clamp the active shaft 100. The shaft clamp can adopt a pneumatic claw clamp structure to clamp and fix the planetary disk part of the active shaft. The flip servo motor drives the horizontal rotating shaft to rotate, which can drive the shaft clamp and the active shaft to precisely rotate 180° around the horizontal axis, so that the inverted active shaft 100 is flipped to the upright position. Specifically, the first Y-axis sliding drive module 412 is used to drive the housing positioning stage 411 along the Y direction to reciprocate between the detection area below the vision inspection mechanism 6 and the shaft clamp 421; the vision inspection mechanism 6 includes an industrial camera and a light source. The industrial camera and the light source are vertically mounted above the moving path of the housing positioning stage by a bracket. The industrial camera lens faces the housing positioning stage surface, and the light source is a ring light source, which is set 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 detection signals. The vision inspection machine is used to detect whether the housing 200 is accurately placed on the housing positioning stage 411. When the housing positioning stage 411 carries the assembled housing 200 and slides to the area below the industrial camera of the vision inspection mechanism 6, the vision inspection mechanism 6 is used to detect the assembly integrity of the active shaft 100 and the housing 200. Specifically, the housing loading and unloading mechanism 7 includes a housing clamp 71, an X-axis sliding drive module 72, and a second Z-axis sliding drive module 73. The housing clamp 71 is used to clamp the housing 200; the second Z-axis sliding drive module 73 is used to drive the housing clamp 71 to slide along the Z direction; the X-axis sliding drive module 72 is used to drive the housing clamp 71 to slide along the X direction, so as to transport the housing 200 to be assembled held on the housing loading and unloading platform to the housing positioning table 411, and can transport the assembled housing 200 on the housing positioning table 411 back to the housing loading and unloading platform. The X-axis sliding drive module has the same structure as the first Y-axis sliding drive module and is set along the X-direction. The second 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 clamping pneumatic gripper structure is fixed to the output end of the second Z-axis sliding drive module. The housing loading and unloading platform is set on one side of the frame and is used to stack the housings of pre-assembled bearings to be assembled, as well as to store assembled workpieces. The housing loading and unloading platform can move along the X or Y direction to realize batch transfer of housings, reduce the workload of manual turnover, and further improve the automation level of the entire assembly production line.

[0023] 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.

[0024] The planetary gear transmission assembly drive shaft assembly equipment in this embodiment achieves fully automated operation from blank shaft loading and integrated turning to drive shaft posture adjustment and automated assembly with the pre-installed bearing housing, and then to post-assembly integrity inspection and workpiece unloading and transfer through the coordinated cooperation of various mechanisms.

[0025] The specific working principle is as follows: Blank loading and turning: After the equipment is started, the servo motor of the blank shaft storage mechanism drives the blank shaft tray to rotate, rotating the placement position containing the blank shaft to the gripping position of the industrial robot; the second Y-axis sliding drive module of the industrial robot drives the multi-axis robotic arm to move above the storage mechanism, the multi-axis robotic arm drives the special gripper to move down and clamp the blank shaft, and then through the action of the multi-axis robotic arm, the blank shaft is transported to the machining station of the CNC lathe, the lathe chuck automatically clamps the blank shaft; the lathe performs one-piece turning on the blank shaft according to the program, machining the sun shaft, planetary disk, and planetary shaft to form an integrated drive shaft; Workpiece transfer and attitude adjustment: After turning is completed, the lathe chuck is released, and the industrial robot grabs the active shaft again with a special gripper. After Y-axis movement and transfer by the multi-axis robotic arm, the active shaft is transferred to the shaft fixture adjustment unit. The shaft fixture clamps the inverted active shaft. Then the flip servo motor of the flip drive module starts, driving the horizontal rotating shaft to flip the shaft fixture 180°, adjusting the active shaft to the upright position with the sun axis facing down and the planetary axis facing up. Automated synchronous loading of housings: The first Y-axis sliding drive module drives the housing positioning stage to move along the Y direction to below the vision inspection mechanism for easy receiving of housings; the second Z-axis sliding drive module of the housing loading and unloading mechanism drives the housing clamp to move down and clamp the housing with pre-installed bearings on the housing loading and unloading platform; the X-axis sliding drive module drives the housing clamp to move along the X direction and transfer the housing to above the housing positioning stage; the second Z-axis sliding drive module drives the housing to move down and place the housing into the positioning groove of the housing positioning stage, completing the vertical positioning of the housing; then the housing loading and unloading mechanism resets and waits for the finished product to be unloaded; Assembly alignment and inspection: The industrial camera of the vision inspection mechanism inspects the lower housing positioning stage to confirm that the housing is in place. Then, the first Y-axis sliding drive module moves the housing positioning stage to directly below the shaft fixture. The first Z-axis sliding drive module then lifts the housing positioning stage vertically upward along the Z-axis, causing the housing to move upward. The sun shaft is precisely inserted into the bearing inside the housing, and the planetary disk and planetary shaft fall synchronously into the gear mounting area on the upper part of the housing, completing the assembly of the drive shaft and the housing. After assembly, the first Z-axis sliding drive module moves the housing positioning stage downward, and the first Y-axis sliding drive module moves the housing positioning stage again to below the vision inspection mechanism. The industrial camera inspects the assembled workpiece to confirm that the drive shaft and housing are fully assembled and without misalignment. After passing inspection, the X-axis sliding drive module and the second Z-axis sliding drive module of the housing loading and unloading mechanism cooperate to clamp the workpiece through the housing fixture and transfer it back to the housing loading and unloading platform. The housing loading and unloading platform can then send the workpiece back to the downstream process, completing the fully automated processing and assembly of a single drive shaft component. By repeating the above process, batch processing and assembly operations can be performed continuously. This equipment eliminates the need for manual workpiece transfer, posture adjustment, and assembly alignment. The entire process is highly automated, effectively reducing the intensity of manual labor. At the same time, the assembly accuracy and consistency are better, improving the planetary gear transmission assembly and completing one automated processing and assembly process. The equipment repeats the above process to achieve continuous automated production.

[0026] 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.

[0027] 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.

[0028] 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. An assembly device for the drive shaft of a planetary gear transmission assembly, characterized in that, It includes a raw shaft storage mechanism (1), an industrial robot (2), a lathe (3), and an active shaft assembly mechanism (4); The blank shaft storage mechanism (1) is used to store blank shafts (10) to be processed; The industrial robot (2) is used to transport the blank shaft (10) of the blank shaft storage mechanism (1) to the processing station of the lathe (3); The lathe (3) is used to integrally turn the blank shaft (10) into a sun shaft (101), a planetary disk (102) and at least one planetary shaft (103) located on the circumference of the planetary disk (102), thereby forming a driving shaft (100). The industrial robot (2) is used to transport the drive shaft (100) processed by the lathe (3) to the drive shaft assembly mechanism (4); The drive shaft assembly mechanism (4) includes a housing positioning and placement unit (41) and a shaft clamp adjustment unit (42); the housing positioning and placement unit (41) is used to position the housing (200) of the pre-installed bearing (300) in a vertical position, so that the shaft passage (201) corresponds to the area below the gear mounting area (202); the shaft clamp adjustment unit (42) is used to receive and clamp the completed drive shaft (100), and can drive the drive shaft (100) to flip. Adjust the rotation to a proper mounting position with the sun axis (101) facing down and the planetary axis (103) facing up; the drive shaft (100) and the housing (200) in the proper mounting position can be fed relative to each other in the vertical direction, so that the sun axis (101) is inserted into the bearing (300) inside the housing (200), while the planetary disk (102) and the planetary axis (103) are located in the gear mounting area (202) on the upper part of the housing (200), thereby completing the assembly of the drive shaft (100) and the housing (200).

2. The drive shaft assembly equipment according to claim 1, characterized in that, The shaft clamp adjustment unit (42) includes a shaft clamp (421) and a flip drive module (422); the shaft clamp (421) is installed on the power output end of the flip drive module (422), and the shaft clamp (421) is used to clamp the active shaft (100); the flip drive module (422) is used to drive the shaft clamp (421) to rotate the active shaft (100) 180° around the horizontal axis so that the inverted active shaft (100) is flipped to the upright position.

3. The drive shaft assembly equipment according to claim 2, characterized in that, The outer shell positioning and placement unit (41) includes an outer shell positioning platform (411), a first Y-axis sliding drive module (412), and a first Z-axis sliding drive module (413). The outer shell positioning platform (411) has an assembly position (4111) for positioning the outer shell (200) on its surface. The first Y-axis sliding drive module (412) is used to drive the outer shell positioning platform (411) to slide along the Y direction to below the shaft clamp (421). The first Z-axis sliding drive module (413) is used to drive the outer shell positioning platform (411) to slide along the Z direction, so as to lift the outer shell (200) and insert the sun shaft (101) into the inner side of the bearing (300) inside the outer shell (200).

4. The drive shaft assembly equipment according to claim 3, characterized in that, The active shaft assembly mechanism is equipped with a vision inspection mechanism (6); the first Y-axis sliding drive module (412) is used to drive the housing positioning stage (411) to slide back and forth along the Y direction between the detection area of ​​the vision inspection mechanism (6) and the shaft clamp (421); The visual inspection mechanism (6) is used to detect whether the housing (200) is accurately placed on the housing positioning stage (411). When the housing positioning stage (411) carries the assembled housing (200) and slides to the detection area below the visual inspection mechanism (6), the visual inspection mechanism (6) is used to detect the assembly integrity of the drive shaft (100) and the housing (200).

5. The drive shaft assembly equipment according to claim 3, characterized in that, It also includes a shell loading and unloading mechanism (7), which includes a shell clamp (71), an X-axis sliding drive module (72) and a second Z-axis sliding drive module (73). The shell clamp (71) is used to clamp the shell (200); the second Z-axis sliding drive module (73) is used to drive the shell clamp (71) to slide along the Z direction; the X-axis sliding drive module (72) is used to drive the shell clamp (71) to slide along the X direction, so as to transport the shell (200) to be assembled from the shell loading and unloading platform to the shell positioning table (411), and can transport the assembled shell (200) on the shell positioning table (411) back to the shell loading and unloading platform.

6. The drive shaft assembly equipment according to any one of claims 1-5, characterized in that, The blank shaft storage mechanism (1) includes a blank shaft material tray (11) and a rotary drive module (12). The blank shaft material tray (11) has multiple blank shaft placement positions (111) in the circumferential direction. The blank shaft (10) is placed upside down on the blank shaft placement position (111) in a vertical position. The rotary drive module (12) is used to drive the blank shaft material tray (11) to rotate.

7. The drive shaft assembly equipment according to any one of claims 1-5, characterized in that, The industrial robot (2) includes a multi-axis robotic arm (21) and a second Y-axis sliding drive module (22); the end of the multi-axis robotic arm (21) is equipped with a special gripper (211), which is used to grip a blank shaft (10) or a processed active shaft (100); the second Y-axis sliding drive module (22) is used to drive the multi-axis robotic arm (21) to slide and transport workpieces along the Y direction.

Images