CN111922710A - Gear wheel assembly line - Google Patents
Gear wheel assembly line Download PDFInfo
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- CN111922710A CN111922710A CN202010810320.9A CN202010810320A CN111922710A CN 111922710 A CN111922710 A CN 111922710A CN 202010810320 A CN202010810320 A CN 202010810320A CN 111922710 A CN111922710 A CN 111922710A
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- jacking
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- 238000007599 discharging Methods 0.000 claims abstract description 31
- 239000000463 material Substances 0.000 claims abstract description 21
- 238000012546 transfer Methods 0.000 claims abstract description 16
- 238000009826 distribution Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 138
- 230000007704 transition Effects 0.000 claims description 50
- 238000001514 detection method Methods 0.000 claims description 21
- 206010066779 Nail picking Diseases 0.000 claims description 20
- 230000000712 assembly Effects 0.000 claims description 12
- 238000000429 assembly Methods 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 5
- 244000309464 bull Species 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000003584 silencer Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of machinery, in particular to a large gear assembly line. The utility model provides a gear wheel assembly line, includes last unloading robot, roll table transfer chain, picks up the nail and screws up robot, screw feed material loading machine, its characterized in that: a feeding trolley is arranged on the front side of the feeding and discharging robot, a roller way conveying line is arranged on the rear side of the feeding and discharging robot, a press-fitting and screwing device is arranged on the left side of the feeding and discharging robot, and a feeding and discharging robot control cabinet is arranged on the right side of the feeding and discharging robot; one side of the press-fitting and tightening equipment is respectively provided with a tightening shaft control cabinet and a power distribution cabinet. Compared with the prior art, the gear wheel assembly line is provided, mechanical cooperation is carried out by utilizing a robot and press-fitting and screwing equipment, the assembly of the whole set of flow can be completed by only one professional, the produced product is good in quality and high in precision, and the rejection rate is greatly reduced.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a large gear assembly line.
Background
The products of the gear wheel assembly line are a differential shell, a gear wheel and 14M 12 multiplied by 40 hexagon flange face bolts. The differential shell and the large gear are in transition fit, the large gear is pressed on the differential shell in a hole-to-hole mode, the end face of the large gear is attached in place, then 14 bolts are fed, the double-shaft robot automatically picks up the bolts and synchronously screws the bolts, screwing parameters are monitored in real time, and the screwing torque requirement is met.
However, the traditional assembly process needs to consume a large amount of manpower and material resources, each station needs to be equipped with a professional to control equipment, if one station has a problem, the phenomenon that a product is defective or scrapped is directly caused, and the production cost is very high.
Disclosure of Invention
The invention provides a gear wheel assembly line for overcoming the defects of the prior art, wherein a robot and a press-fitting and screwing device are used for mechanical matching, the assembly of the whole process can be completed by only one professional, the produced product has good quality and high precision, and the rejection rate is greatly reduced.
For realizing above-mentioned purpose, design a gear wheel assembly line, including last unloading robot, roll table transfer chain, pick up the nail and screw up robot, screw feed material loading machine, its characterized in that: a feeding trolley is arranged on the front side of the feeding and discharging robot, a roller way conveying line is arranged on the rear side of the feeding and discharging robot, a press-fitting and screwing device is arranged on the left side of the feeding and discharging robot, and a feeding and discharging robot control cabinet is arranged on the right side of the feeding and discharging robot; one side of the press-fitting and tightening equipment is respectively provided with a tightening shaft control cabinet and a power distribution cabinet.
The press-mounting and screwing equipment comprises a press-mounting mechanism, a screwing mechanism, an indexing turntable mechanism, a nail picking and screwing robot, a screw feeding and feeding machine and a rack, wherein the indexing turntable mechanism is arranged on the rack; a screw picking and tightening robot is arranged on the left side of the indexing turntable mechanism, and a screw feeding and feeding machine is arranged on the front side of the screw picking and tightening robot; a blanking table is arranged at the front side of the tightening mechanism.
The press-mounting mechanism comprises a press-mounting mechanism support, a laser detection assembly, a positioning guide pin, a pressure head assembly, a pressure sensor, a servo pressure cylinder and a guide shaft assembly, wherein the press-mounting mechanism support is of a C-shaped structure, the laser detection assembly is arranged on the left side and the right side of the middle of the press-mounting mechanism support respectively, the bottom of the press-mounting mechanism support is fixed with the rack, the servo pressure cylinder is arranged at the top of the press-mounting mechanism support, a piston rod of the servo pressure cylinder penetrates through the top of the press-mounting mechanism support and is connected with one end of the pressure head assembly, and the other end of the pressure head assembly is connected; the left side and the right side of the top of the pressure head assembly are respectively provided with a guide shaft assembly; and a pressure sensor is arranged at the tail end of the piston rod of the servo pressure cylinder.
The device comprises a frame, a tightening mechanism, a transplanting cylinder, a cylinder support, a transition support plate, a floating joint, a floating connecting plate and a material detection assembly, wherein the tightening mechanism comprises a tightening mechanism support, an automatic tightening shaft, tightening shaft mounting seats, a Z-direction sliding block assembly, a code scanning assembly, a transfer support, an X-direction adjusting assembly, the transplanting cylinder, the cylinder support, the transition support plate, the floating joint, the floating connecting plate and the material detection assembly; the transplanting air cylinder is connected with one side of the top of the transition support plate and is connected with the tightening mechanism bracket through an air cylinder support; the tightening mechanism bracket positioned on one side below the transition carrier plate is connected with a floating connector through a floating connecting plate; a material detection assembly is arranged on the tightening mechanism bracket positioned below the automatic tightening shaft; the upper part of the left side of the tightening mechanism support is connected with the code sweeping assembly through a connecting piece, and the lower part of the left side of the tightening mechanism support is connected with a transfer support.
The indexing turntable mechanism comprises an indexing disc, a divider bracket, a jacking rotating mechanism, a jacking supporting mechanism and a differential shell positioning anti-torque tool, wherein the bottom of the indexing disc is connected with the divider; and a jacking supporting mechanism is arranged below the press-fitting station, and jacking rotating mechanisms are respectively arranged below the pre-tightening station and the re-tightening station.
The jacking rotary mechanism comprises a jacking tray, a rotary flange plate, a servo motor, a supporting transition plate, a jacking cylinder, a Y-direction adjustable plate and an X-direction adjustable plate, the X-direction adjustable plate is provided with the Y-direction adjustable plate, the peripheral bottoms of the supporting transition plate are respectively connected with one end of a guide supporting assembly, the other end of the guide supporting assembly respectively penetrates through the Y-direction adjustable plate and the X-direction adjustable plate to be fixed with the rack, the left side and the right side of the bottom of the supporting transition plate are respectively connected with extension shafts of the jacking cylinder, and the bottom of the jacking cylinder is connected with the Y-direction adjustable plate; a jacking tray is arranged in the middle of the supporting transition plate, the bottom of the jacking tray penetrates through the supporting transition plate and is connected with a servo motor through a rotating flange plate, and positioning pins are respectively arranged on the left side and the right side of the top of the jacking tray; and an indexing positioning torsion-resistant assembly is arranged on one side of the bottom of the jacking tray, and an origin detection assembly is arranged on the other side of the bottom of the jacking tray.
The jacking support mechanism comprises another Y-direction adjustable plate, another X-direction adjustable plate, another floating joint, another jacking cylinder, a slide rail transition support plate, a support slide rail, a cylinder, a press-fitting support block, a jacking support plate and another guide support component, another Y-direction adjustable plate is arranged on the other X-direction adjustable plate, the peripheral bottom of the jacking support plate is respectively connected with one end of the other guide support component, the other end of the other guide support component is respectively fixed with the frame by penetrating through the other Y-direction adjustable plate and the other X-direction adjustable plate, one side of the bottom of the jacking support plate is connected with an extension shaft of the other jacking cylinder, and the bottom of the other jacking cylinder is connected with the other Y-direction adjustable plate; the jacking supporting plate is of a C-shaped panel structure, a press-fitting supporting block is arranged below the middle part of the jacking supporting plate, the bottom of the press-fitting supporting block is connected with a sliding rail transition supporting plate through a supporting sliding rail, one side of the sliding rail transition supporting plate is connected with an air cylinder through an air cylinder support, and an extension shaft of the air cylinder penetrates through the air cylinder support and is connected with the press-fitting supporting block through another floating joint; the slide rail transition support plate is fixedly connected with the other Y-direction adjustable plate.
The bottom of the nail picking and tightening robot is fixedly connected with the ground through a robot base, the nail picking and tightening robot is a four-axis robot, a nail feeding machine is arranged on the ground between the nail picking and tightening robot and the screw feeding and feeding machine, and the nail feeding machine is a one-output two-type nail feeding machine.
The bottom of going up unloading robot pass through the robot base and be connected fixedly with ground, the top of going up the unloading robot adopts the one end of connecting plate connection parallel gas claw, the other end of parallel gas claw connects the robot clamping jaw, the upper portion that is located the robot clamping jaw is equipped with centering test piece.
And a plurality of tool tray assemblies are distributed on the roller way conveying line.
And guardrails are arranged on the outer sides of the tightening shaft control cabinet and the power distribution cabinet, the press-fitting tightening equipment, the feeding trolley, the feeding and discharging robot and the feeding and discharging robot control cabinet.
Compared with the prior art, the large gear assembly line provided by the invention has the advantages that a robot and a press-fitting and tightening device are utilized for mechanical matching, the assembly of the whole process can be completed by only one professional, the produced product has good quality and high precision, and the rejection rate is greatly reduced.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a schematic view of a differential shell and gearwheel feeding tool.
Fig. 3 is a schematic view of a robot clamping jaw structure of the loading and unloading robot.
Fig. 4 is a perspective view of the press-fitting and tightening device.
Fig. 5 is a front view of the press-fitting and tightening apparatus.
Fig. 6 is a plan view of the press-fitting and tightening apparatus.
Fig. 7 is a front view of the press-fitting mechanism.
Fig. 8 is a side view of the press-fit mechanism.
Fig. 9 is a perspective view of the tightening mechanism.
FIG. 10 is a front view of the tightening mechanism.
FIG. 11 is a side view of the tightening mechanism.
Fig. 12 is a front view of the indexing dial mechanism.
Fig. 13 is a perspective view of the jacking rotation mechanism.
Fig. 14 is a front view of the jacking rotation mechanism.
Fig. 15 is a sectional view taken along line a-a in fig. 14.
Fig. 16 is a perspective view of the jacking support mechanism.
Fig. 17 is a flow chart of the movement of the jacking supporting mechanism.
Fig. 18 is a schematic view of the air passage of the press-fitting and tightening apparatus.
Detailed Description
The invention is further illustrated below with reference to the accompanying drawings.
As shown in fig. 1 to 17, a feeding trolley 1 is arranged at the front side of a feeding and discharging robot 4, a roller conveyor line 3 is arranged at the rear side of the feeding and discharging robot 4, a press-fitting and screwing device is arranged at the left side of the feeding and discharging robot 4, and a feeding and discharging robot control cabinet 2 is arranged at the right side of the feeding and discharging robot 4; and a tightening shaft control cabinet and a power distribution cabinet 11 are respectively arranged on one side of the press-fitting and tightening equipment.
The press-fitting and tightening equipment comprises a press-fitting mechanism, a tightening mechanism, an indexing turntable mechanism, a nail picking and tightening robot, a screw feeding and feeding machine and a rack, wherein the rack 14 is provided with the indexing turntable mechanism 7, the tightening mechanism 9 is arranged on the front side of the indexing turntable mechanism 7, and the press-fitting mechanism 6 is arranged on the rear side of the indexing turntable mechanism 7; a screw picking and tightening robot 10 is arranged on the left side of the indexing turntable mechanism 7, and a screw feeding and feeding machine 13 is arranged on the front side of the screw picking and tightening robot 10; a blanking table 12 is provided on the front side of the tightening mechanism 9.
The press-fitting mechanism 6 comprises a press-fitting mechanism support, a laser detection assembly, a positioning guide pin, a pressure head assembly, a pressure sensor, a servo pressure cylinder and a guide shaft assembly, wherein the press-fitting mechanism support 6-1 is of a C-shaped structure, the laser detection assemblies 6-7 are respectively arranged on the left side and the right side of the middle part of the press-fitting mechanism support 6-1, the bottom of the press-fitting mechanism support 6-1 is fixed with a rack 14, the servo pressure cylinder 6-5 is arranged at the top of the press-fitting mechanism support 6-1, a piston rod of the servo pressure cylinder 6-5 penetrates through the top of the press-fitting mechanism support 6-1 and is connected with one end of the pressure head assembly 6-3, and the other end of the pressure head assembly 6-3 is connected; the left side and the right side of the top of the pressure head assembly 6-3 are respectively provided with a guide shaft assembly 6-6; the tail end of a piston rod of the servo pressure cylinder 6-5 is provided with a pressure sensor 6-4.
The tightening mechanism 9 comprises a tightening mechanism support, automatic tightening shafts, tightening shaft mounting seats, Z-direction slider assemblies, code scanning assemblies, a transfer support, X-direction adjusting assemblies, transplanting cylinders, cylinder supports, transition support plates, floating joints, floating connecting plates and material detection assemblies, the bottom of the tightening mechanism support 9-1 is fixed with the rack 14, the transition support plate 9-6 is connected to the front side of the tightening mechanism support 9-1 through the Z-direction slider assemblies 9-3, the left side and the right side of the transition support plate 9-6 are connected to one end of two tightening shaft mounting seats 9-2 through the X-direction adjusting assemblies 9-12, and the other end of the tightening shaft mounting seat 9-2 is connected to the automatic tightening shaft 9-7; one side of the top of the transition carrier plate 9-6 is connected with a transplanting cylinder 9-4, and the transplanting cylinder 9-4 is connected with a screwing mechanism bracket 9-1 through a cylinder support 9-5; the tightening mechanism bracket 9-1 positioned at one side below the transition carrier plate 9-6 is connected with a floating connector 9-8 through a floating connecting plate 9-9; a material detection assembly 9-10 is arranged on the tightening mechanism bracket 9-1 positioned below the automatic tightening shaft 9-7; the upper part of the left side of the tightening mechanism bracket 9-1 is connected with a code scanning assembly 9-11 through a connecting piece, and the lower part of the left side of the tightening mechanism bracket 9-1 is connected with a transfer bracket 9-13.
The indexing turntable mechanism 7 comprises an indexing disc, a divider bracket, a jacking rotating mechanism, a jacking supporting mechanism and a differential shell positioning anti-torque tool, the bottom of the indexing disc 7-1 is connected with the divider 7-2, the divider 7-2 is fixed with the rack 14 through the divider bracket 7-5, a feeding and discharging station, a press-fitting station, a pre-tightening station and a re-tightening station are uniformly distributed on the outer edge of the top of the indexing disc 7-1 anticlockwise, each station is of a hollow structure in the middle, and the differential shell positioning anti-torque tool 7-6 is connected to each station; a jacking supporting mechanism 7-4 is arranged below the press-fitting station, and a jacking rotating mechanism 7-3 is respectively arranged below the pre-tightening station and the re-tightening station.
The jacking rotary mechanism 7-3 comprises a jacking tray, a rotary flange plate, a servo motor, a supporting transition plate, a jacking cylinder, a Y-direction adjustable plate and an X-direction adjustable plate, the X-direction adjustable plate 7-3-5 is provided with the Y-direction adjustable plate 7-3-11, the bottom of the periphery of the supporting transition plate 7-3-3 is respectively connected with one end of a guiding support component 7-3-10, the other end of the guiding support component 7-3-10 is respectively fixed with a frame 14 by penetrating through the Y-direction adjustable plate 7-3-11 and the X-direction adjustable plate 7-3-5, the left side and the right side of the bottom of the supporting transition plate 7-3-3 are respectively connected with an extension shaft of the jacking cylinder 7-3-4, the bottom of the jacking cylinder 7-3-4 is connected with a Y-direction adjustable plate 7-3-11; a jacking tray 7-3-1 is arranged in the middle of the supporting transition plate 7-3-3, the bottom of the jacking tray 7-3-1 penetrates through the supporting transition plate 7-3-3 and is connected with a servo motor 7-3-6 through a rotary flange 7-3-7, and positioning pins 7-3-2 are respectively arranged on the left side and the right side of the top of the jacking tray 7-3-1; an indexing positioning torsion-resistant assembly 7-3-9 is arranged on one side of the bottom of the jacking tray 7-3-1, and an origin detection assembly 7-3-8 is arranged on the other side of the bottom of the jacking tray 7-3-1.
The jacking supporting mechanism 7-4 comprises another Y-direction adjustable plate, another X-direction adjustable plate, another floating joint, another jacking cylinder, a sliding rail transition support plate, a supporting sliding rail, a cylinder, a press-fitting support block, a jacking supporting plate and another guiding supporting component, another Y-direction adjustable plate 7-4-9 is arranged on another X-direction adjustable plate 7-4-8, the peripheral bottom of the jacking supporting plate 7-4-11 is respectively connected with one end of another guiding supporting component 7-4-10, the other end of another guiding supporting component 7-4-10 respectively penetrates another Y-direction adjustable plate 7-4-9 and another X-direction adjustable plate 7-4-8 to be fixed with the frame 14, one side of the bottom of the jacking supporting plate 7-4-11 is connected with an extending shaft of another jacking cylinder 7-4-7, the bottom of the other jacking cylinder 7-4-7 is connected with the other Y-direction adjustable plate 7-4-9; the jacking supporting plate 7-4-11 is of a C-shaped panel structure, a press-fitting supporting block 7-4-1 is arranged below the middle part of the jacking supporting plate 7-4-11, the bottom of the press-fitting supporting block 7-4-1 is connected with a sliding rail transition supporting plate 7-4-5 through a supporting sliding rail 7-4-4, one side of the sliding rail transition supporting plate 7-4-5 is connected with an air cylinder 7-4-3 through an air cylinder support 7-4-2, and an extending shaft of the air cylinder 7-4-3 penetrates through the air cylinder support 7-4-2 and is connected with the press-fitting supporting block 7-4-1 through another floating joint 7-4-6; the slide rail transition carrier plate 7-4-5 is fixedly connected with another Y-direction adjustable plate 7-4-9.
The bottom of the nail picking and tightening robot 10 is fixedly connected with the ground through a robot base, the nail picking and tightening robot 10 is a four-shaft robot, a nail feeder 15 is arranged on the ground between the nail picking and tightening robot 10 and the screw feeding and feeding machine 13, and the nail feeder 15 is a one-out-two type nail feeder.
The bottom of going up unloading robot 4 is passed through the robot base and is connected fixedly with ground, and the top of going up unloading robot 4 adopts connecting plate 16 to connect the one end of parallel gas claw 17, and the other end of parallel gas claw 17 connects robot clamping jaw 19, and the upper portion that is located robot clamping jaw 19 is equipped with centering and transfers test piece 18.
A plurality of tool tray assemblies 5 are uniformly distributed on the roller way conveying line 3.
And guardrails 8 are arranged on the outer sides of the tightening shaft control cabinet and power distribution cabinet 11, the press-fitting tightening equipment, the feeding trolley 1, the feeding and discharging robot 4 and the feeding and discharging robot control cabinet 2.
As shown in fig. 1, the flow of the whole gear wheel assembly line is as follows:
1. the feeding trolley 1 is provided with a material tray with a differential shell and a large gear, the feeding trolley 1 is used for standby, after the feeding trolley 1 is conveyed in place by the AGV, the positioning is adjusted, and the AGV is withdrawn;
2. the robot control cabinet 2 controls the feeding and discharging robot 4 to take qualified products from a feeding and discharging station on the indexing turntable mechanism 7, place the qualified products on a tooling pallet assembly 5 of the roller conveyor line 3 and flow into the next process from the roller conveyor line 3;
3. then the robot control cabinet 2 controls the loading and unloading robot 4 to take materials from the loading trolley 1, and a differential shell and a large gear on the loading trolley 1 are placed on a loading and unloading station on the indexing turntable mechanism 7;
4. the indexing turntable mechanism 7 rotates anticlockwise, the differential shell and the large gear on the feeding and discharging station are rotated to the press-mounting station, and the differential shell and the large gear are subjected to press-mounting by the press-mounting mechanism 6;
5. after the press mounting is finished, the indexing turntable mechanism 7 continues to rotate anticlockwise and rotates to a pre-tightening station, the nail picking and tightening robot 10 takes 2 bolts from the nail feeder 15 at the last time and returns 7 times, and the bolts in the nail feeder 15 are supplied by the screw feeding and feeding machine 13;
6. the nail picking and tightening robot 10 respectively performs a pre-tightening process on 14 bolts on the bull gear;
7. after the pre-tightening is finished, the indexing turntable mechanism 7 continues to rotate anticlockwise and rotates to a re-tightening station, and the tightening mechanism 9 performs a tightening process on 14 bolts on the large gear;
8. after screwing up and accomplishing to whether the product is qualified, qualified is detected simultaneously, places qualified product on the frock tray subassembly 5 of roller way transfer chain 3 by last unloading robot 4, if unqualified, places unqualified product on unloading platform 12 by last unloading robot 4.
As shown in figure 2, the differential shell and the bull gear are positioned and stacked in double layers on material trays, and 16 sets of the differential shell and the bull gear are arranged on one material tray. The differential shell is arranged on the material tray, the inner hole of the differential shell centering guide piece is used for centering, the lower end face of the differential shell is positioned and supported, the positioning precision is 0.225mm, and the differential shell directional torsion-resistant piece assists in orientation and is tightened and torsion-resistant. The bull gear is on the material tray, with poor shell external diameter centering bull gear hole, with two bull gear location uide pins location on the locating support frame, the locating support frame auxiliary stay bull gear lower extreme face.
As shown in fig. 3, the robot gripping jaw 19 is in a two-side clamp form, and the tail end of the robot gripping jaw 19 is made of polyurethane. When the outer wall of the product is clamped, the tension force can ensure that the total weight of the product is borne, and the possibility of sliding and damaging the product is avoided. The robot gripping jaw 19 can hold both a tolerance housing and a gearwheel. The incoming materials of the differential shell and the big gear are stacked in a height difference positioning mode, and the differential shell and the big gear need to be grabbed in sequence for feeding. When the robot clamping jaw 19 grabs the differential shell, a gap of 5mm is reserved between the robot clamping jaw and the upper end face of the large gear, and friction or collision is avoided. The parallel gas claw 17 is positioned and installed on a connecting plate at the tail end of the robot through a connecting plate 16, and the positioning precision of the parallel gas claw 17 is 0.02 mm. The centering test piece 18 is connected with the parallel gas claw 17 through the robot clamping claw 19, and when the equipment is installed and debugged, the centering test piece 18 is used for adjusting the center positioning of the robot clamping claw 19.
As shown in fig. 4 to 6, the press-fitting and screwing apparatus is a core apparatus of a large gear automatic assembly line. The equipment mainly comprises a press-fitting mechanism 6, a screwing mechanism 9, an indexing turntable mechanism 7, a nail picking and screwing robot 10, a screw feeding and feeding machine 13, a rack 14 and the like.
The frame 14 of the equipment is provided with an auxiliary foot seat and a forklift foot plate. The auxiliary foot seats are arranged, so that the equipment can be firmly arranged; the installation fork truck sole makes things convenient for equipment to transport.
The indexing turntable mechanism 7 can position the differential shell at one time, index and rotate together with the positioning tool, transmit the loading between the press-fitting station, the pre-screwing station, the re-screwing station and the unloading station, and switch to each station for assembly.
The automatic press mounting is that the loading and unloading robot 4 sequentially grabs the differential shell and the large gear to feed to a press mounting station, the press mounting mechanism 6 presses down the guide large gear to be pressed on the differential shell, and the end faces are attached in place.
The automatic nail picking and pre-screwing is that the nail picking and pre-screwing robot 10 with the tail end screwing tool synchronously picks two bolts from a one-in-two nail feeder 15 and performs the pre-screwing of the large gear at a pre-screwing station (the pre-screwing of 14 bolts is completed by reciprocating nail picking and screwing 7 groups). The nail picking and tightening robot 10 is fixed on the frame 14 through a robot base; the nail feeder 15 is equipped with a large-capacity feed bin.
The automatic re-screwing is to finish the assembly of 14 bolts by using double-shaft synchronous automatic screwing according to a process screwing strategy.
Automatic unloading has installation unloading material to detect, is that unloading robot 4 will unload qualified piece on the station to the frock tray subassembly 5 of roller way transfer chain 3, will unqualified piece unloading to NG blanking platform 12.
As shown in fig. 7 and 8, the press-fitting mechanism 6 of the large gear drives a press head assembly 6-3 provided with a positioning guide pin 6-2 through a servo press cylinder 6-5, and the large gear is press-fitted to the differential case in a hole-to-hole manner, so that the end faces of the large gear and the differential case are attached in place. The assembly concentricity of the large gear and the differential shell is less than or equal to 0.05mm, and the press fitting stress point is close to the fitting surface.
The press mounting mechanism support 6-1 is of a C-shaped structure, has strong bearing capacity, and can endure the maximum load which can be applied by the servo press cylinder 6-5 and multiplied by a factor of three times without bending after finite element analysis. Two groups of laser detection assemblies 6-7 are arranged on the press mounting mechanism bracket 6-1 to detect whether materials exist or not and whether a differential shell is laid flat or not.
The servo pressure cylinder 6-5 has the pressure-displacement online monitoring and judging capability. The qualification determination is mainly based on pressure: and in the range of qualified displacement, the pressure is in a set interval, the equipment judges that the pressure is qualified, and any value of the displacement or the pressure does not meet the set interval and is considered as unqualified.
The pressure head assembly 6-3 is provided with a positioning guide pin 6-2, the tail end of the electric cylinder is flexible and adjustable, and the guide pin is used for guiding and pressing the bolt through holes of the large gear and the differential shell.
As shown in fig. 9 to 11, in order to reduce the influence of the elastic interaction of the bolts, 14 bolts are tightened in seven groups in a certain order with biaxial synchronization. The automatic pre-tightening torque is 15 N.m +/-1 N.m, the double-shaft automatic nail picking and synchronous tightening are carried out, the tightening parameters are monitored in real time, the requirement of the rotation angle of the re-tightening torque of 45N.m plus 60 degrees is met, and the torque-rotation angle curve can be provided for an MES system through a communication interface with the MES. And a double-shaft control mode and centralized configuration management are adopted to perform compensation optimization on the screwing state, so that the screwing quality is controlled, and the production efficiency and the product quality are improved.
The screwing mechanism 9 mainly provides Z-direction screwing running power by a transferring cylinder 9-4, a material detection assembly 9-10 is used for detecting whether a large gear exists or not, and the transferring cylinder 9-4 drives an automatic screwing shaft on a transition carrier plate 9-6 to complete screwing assembly of a large gear bolt.
The tightening mechanism bracket 9-1 is connected with the frame 14, and the installation position is adjustable. The code scanning assembly 9-11, the transfer support 9-13, the Z-direction sliding block assembly 9-3, the cylinder support 9-5 and the material detection assembly 9-10 are integrally installed on the tightening mechanism support 9-1. The transplanting cylinder 9-4 is connected with the transition carrier plate 9-6 through a floating connector 9-8 and a floating connecting plate 9-9. Two groups of automatic tightening shafts 9-7 and tightening shaft mounting seats 9-2 on the transition carrier plate 9-6 are symmetrically connected with a Z-direction sliding block component 9-3 through an X-direction adjusting component 9-12 digital display bidirectional adjustable hand wheel.
The bidirectional manual + A-direction flexible synchronous adjusting mechanism with the digital display can adjust the distance between tightening shafts, is compact in structure, saves space, and can meet the tightening and assembling requirements of different products.
As shown in fig. 12, the indexing turntable mechanism 7 is composed of a divider 7-2, a divider bracket 7-5, an indexing turntable 7-1, a differential shell positioning anti-torque tool 7-6, a jacking support mechanism 7-4 and a jacking rotation mechanism 7-3. The indexing turntable mechanism 7 is connected to the frame 14.
And a jacking support mechanism 7-4 of the press-fitting station is used for increasing lateral auxiliary support to bear the press-fitting force in order to prevent the rotary table from bearing the press-fitting force. The jacking and rotating mechanisms 7-3 of the pre-screwing station and the re-screwing station are consistent and provide indexing rotation for double-shaft synchronous screwing of the large gear.
The divider 7-2 and the jacking supporting mechanism 7-4 are installed on the divider support 7-5, the indexing turntable 7-1 is connected with the divider 7-2, and the differential shell positioning anti-torque tool 7-6 is positioned and connected with the indexing turntable 7-1.
As shown in fig. 13 to 15, the jacking rotary mechanism 7-3 is combined by an X-direction adjustable plate 7-3-5 and a Y-direction adjustable plate 7-3-11, and is mounted with the frame 14. Two side jacking cylinders 7-3-4 and four groups of guide support components 7-3-10 are arranged on a Y-direction adjustable plate 7-3-11, a floating joint and an indexing positioning torsion-resistant component 7-3-9 of the jacking cylinder 7-3-4 are connected with a support transition plate 7-3-3, and the tail ends of guide shafts of the guide support components 7-3-10 are fixedly positioned with the support transition plate 7-3-3. A servo motor 7-3-6+ a rotary flange 7-3-7 is directly connected with a planetary reducer and an origin detection assembly 7-3-8, the servo motor 7-3-6+ the rotary flange 7-3-7 are arranged on a supporting transition plate 7-3-3, and a jacking tray 7-3-1 is connected with the rotary flange 7-3-7 directly connected with the planetary reducer.
The jacking and rotating mechanism 7-3 is mainly used for providing indexing rotation for double-shaft synchronous screwing of the large gear at a pre-screwing station and a re-screwing station, switching different screwing positions and completing screwing and assembling of 14 bolts.
The origin detection component 7-3-8 is mainly used for detecting the origin position of the jacking tray 7-3-1, and can accurately find and set the origin during debugging. If power is suddenly cut off, a reset origin needs to be found after restarting.
The positioning pin 7-3-2 diamond shell positioning pin on the jacking tray 7-3-1 is matched with the positioning pin sleeve on the turntable tool tray, and the jacking positioning precision is 0.08 mm.
As shown in FIG. 16 and FIG. 17, when the jacking supporting mechanism 7-4 is at the initial position, a gap of 5mm is reserved between the jacking supporting plate 7-4-11 and the lower end face of the tooling pallet and the turntable. When the indexing turntable 7-1 rotates to the press-fitting station, the other jacking cylinder 7-4-7 on the two sides of the jacking support mechanism 7-4 synchronously jacks up the tray, so that the tray is separated from the table surface of the turntable by 2mm (without separating from a guide pin on a turntable tool). The air cylinder 7-4-3 drives the press-fitting supporting block 7-4-1 to extend, at the moment, the other jacking air cylinder 7-4-7 descends, and the tooling pallet falls on the press-fitting supporting block 7-4-1. The air cylinder 7-4-3 provides shifting power for the press-fitting supporting block 7-4-1, and the supporting slide rail 7-4-4 provides load support for the press-fitting supporting block 7-4-1.
The jacking supporting mechanism 7-4 is combined by another X-direction adjustable plate 7-4-8 and another Y-direction adjustable plate 7-4-9 and is installed with the frame 14. The other jacking cylinder 7-4-7, the other guide support component 7-4-10 and the slide rail transition support plate 7-4-5 are arranged on the other Y-direction adjustable plate 7-4-9. The floating joint of the other jacking cylinder 7-4-7 is connected with the jacking supporting plate 7-4-11; the tail end of a guide shaft of the other guide support component 7-4-10 is fixedly positioned with the jacking supporting plate 7-4-11; a supporting slide rail 7-4-4 and an air cylinder support 7-4-2 are arranged on the slide rail transition carrier plate 7-4-5, a press-fitting supporting block 7-4-1 is connected with the supporting slide rail 7-4-4, an air cylinder 7-4-3 is arranged on the air cylinder support 7-4-2 and is connected with the press-fitting supporting block 7-4-1 through another floating joint 7-4-6.
As shown in fig. 18, the pneumatic system of the press-fitting and tightening device is mainly centrally controlled by the execution cylinders of the jacking and press-fitting support of the press-fitting station, the jacking rotation of the pre-tightening station, the tightening transfer and jacking rotation of the re-tightening station, the electromagnetic valve bank and the like.
The press-mounting jacking cylinder 21, the pre-screwing jacking cylinder 22 and the re-screwing jacking cylinder 25 are all controlled by an electromagnetic valve to synchronously jack the two cylinders. The 10 actuating cylinders are respectively controlled by 7 electromagnetic valves 35, and the electromagnetic valves 35 are installed on the assembly collecting plate 31. The collection manifold plate 31 is connected to the air supply through the air combination element 29+ the quick connector 28. The assembly collecting plate 31 is provided with a silencer 32, the redundant assembly mounting positions are provided with assembly cover plates 30, the air cylinders are connected with electromagnetic valves 35 through speed control valves 33, and the re-screwing transfer air cylinder 27 is connected with the electromagnetic valves 35 through the speed control valves 33 and the one-way speed control valves 34.
The assembly line has high flexibility, simple operation and low labor intensity, meets the standardized requirement of universal interchangeability, and can quickly promote the intelligent and industrialized upgrading of assembly production. The quick model change of the product is mainly realized from the following parts: 1) the AGV feeding tray is replaced, and the AGV feeding tray can be replaced when the products are different in positioning size; 2) the positioning tool on the indexing turntable is connected with the turntable in a positioning mode through two positioning pins; 3) the air pipe of the air cylinder is integrally connected to the partition plate joint, the wiring harness of the magnetic switch is connected to the concentrator, the partition plate joint and the concentrator are connected to the bottom frame of the equipment in a switching mode, when a product is in a shape changing mode, the air pipe on the partition plate joint is pulled out, the joint on the concentrator is pulled out, and the quick switching can be achieved; 4) the synchronous tightening shaft for tightening and transferring is provided with a bidirectional manual adjusting mechanism with a digital display, and the distance between the tightening shafts can be adjusted to adapt to product model changing; 5) the pressure head tooling X, Y is flexible and adjustable, and has strong self-adaptive capacity.
Claims (11)
1. The utility model provides a gear wheel assembly line, includes last unloading robot, roll table transfer chain, picks up the nail and screws up robot, screw feed material loading machine, its characterized in that: a feeding trolley (1) is arranged on the front side of the feeding and discharging robot (4), a roller way conveying line (3) is arranged on the rear side of the feeding and discharging robot (4), a press-fitting and screwing device is arranged on the left side of the feeding and discharging robot (4), and a feeding and discharging robot control cabinet (2) is arranged on the right side of the feeding and discharging robot (4); one side of the press-fitting and tightening equipment is respectively provided with a tightening shaft control cabinet and a power distribution cabinet (11).
2. A gear wheel assembly line according to claim 1, wherein: the press-fitting and tightening equipment comprises a press-fitting mechanism, a tightening mechanism, an indexing turntable mechanism, a nail picking and tightening robot, a screw feeding and feeding machine and a rack, wherein the rack (14) is provided with the indexing turntable mechanism (7), the tightening mechanism (9) is arranged on the front side of the indexing turntable mechanism (7), and the press-fitting mechanism (6) is arranged on the rear side of the indexing turntable mechanism (7); a screw picking and tightening robot (10) is arranged on the left side of the indexing turntable mechanism (7), and a screw feeding machine (13) is arranged on the front side of the screw picking and tightening robot (10); a blanking table (12) is arranged at the front side of the tightening mechanism (9).
3. A gear wheel assembly line according to claim 2, wherein: the press-mounting mechanism (6) comprises a press-mounting mechanism support, a laser detection assembly, a positioning guide pin, a pressure head assembly, a pressure sensor, a servo pressure cylinder and a guide shaft assembly, wherein the press-mounting mechanism support (6-1) is of a C-shaped structure, the laser detection assemblies (6-7) are respectively arranged on the left side and the right side of the middle part of the press-mounting mechanism support (6-1), the bottom of the press-mounting mechanism support (6-1) is fixed with a rack (14), the servo pressure cylinder (6-5) is arranged on the top of the press-mounting mechanism support (6-1), a piston rod of the servo pressure cylinder (6-5) penetrates through the top of the press-mounting mechanism support (6-1) and is connected with one end of the pressure head assembly (6-3), and the other end of the pressure head assembly (6-3) is connected with the positioning guide pin; the left side and the right side of the top of the pressure head assembly (6-3) are respectively provided with a guide shaft assembly (6-6); and a pressure sensor (6-4) is arranged at the tail end of the piston rod of the servo pressure cylinder (6-5).
4. A gear wheel assembly line according to claim 2, wherein: the device comprises a tightening mechanism (9) and a control mechanism, wherein the tightening mechanism (9) comprises a tightening mechanism support, an automatic tightening shaft, a tightening shaft mounting seat, a Z-direction sliding block assembly, a code scanning assembly, a transfer support, an X-direction adjusting assembly, a transplanting cylinder, a cylinder support, a transition support plate, a floating joint, a floating connecting plate and a material detection assembly, the bottom of the tightening mechanism support (9-1) is fixed with a rack (14), the transition support plate (9-6) is connected to the front side of the tightening mechanism support (9-1) through the Z-direction sliding block assembly (9-3), the left side and the right side of the transition support plate (9-6) are connected to one end of two tightening shaft mounting seats (9-2) through the X-direction adjusting assembly (9-12), and the other end of the tightening shaft mounting seat (9-2) is connected to the automatic tightening; one side of the top of the transition carrier plate (9-6) is connected with a transplanting cylinder (9-4), and the transplanting cylinder (9-4) is connected with a screwing mechanism bracket (9-1) through a cylinder support (9-5); the screwing mechanism bracket (9-1) positioned at one side below the transition carrier plate (9-6) is connected with a floating connector (9-8) through a floating connecting plate (9-9); a material detection assembly (9-10) is arranged on the tightening mechanism bracket (9-1) positioned below the automatic tightening shaft (9-7); the upper part of the left side of the tightening mechanism bracket (9-1) is connected with the code scanning assembly (9-11) through a connecting piece, and the lower part of the left side of the tightening mechanism bracket (9-1) is connected with a transfer bracket (9-13).
5. A gear wheel assembly line according to claim 2, wherein: the indexing turntable mechanism (7) comprises an indexing disc, a divider bracket, a jacking rotating mechanism, a jacking supporting mechanism and a differential shell positioning anti-torque tool, the bottom of the indexing disc (7-1) is connected with the divider (7-2), the divider (7-2) is fixed with the frame (14) through the divider bracket (7-5), a feeding and discharging station, a press-fitting station, a pre-tightening station and a re-tightening station are uniformly distributed on the outer edge of the top of the indexing disc (7-1) in an anticlockwise mode, each station is of a middle hollow structure, and the differential shell positioning anti-torque tool (7-6) is connected to each station; a jacking supporting mechanism (7-4) is arranged below the press-fitting station, and a jacking rotating mechanism (7-3) is respectively arranged below the pre-tightening station and the re-tightening station.
6. A gear wheel assembly line according to claim 5, wherein: the jacking rotary mechanism (7-3) comprises a jacking tray, a rotary flange plate, a servo motor, a support transition plate, a jacking cylinder, a Y-direction adjustable plate and an X-direction adjustable plate, the X-direction adjustable plate (7-3-5) is provided with the Y-direction adjustable plate (7-3-11), the bottom of the periphery of the support transition plate (7-3-3) is respectively connected with one end of a guide support component (7-3-10), the other end of the guide support component (7-3-10) respectively penetrates through the Y-direction adjustable plate (7-3-11) and the X-direction adjustable plate (7-3-5) to be fixed with a rack (14), the left side and the right side of the bottom of the support transition plate (7-3-3) are respectively connected with extension shafts of the jacking cylinder (7-3-4), and the bottom of the jacking cylinder (7-3-4) is connected with the Y-direction adjustable plate (7-3-3) -11) a connection; a jacking tray (7-3-1) is arranged in the middle of the supporting transition plate (7-3-3), the bottom of the jacking tray (7-3-1) penetrates through the supporting transition plate (7-3-3) and is connected with a servo motor (7-3-6) through a rotary flange plate (7-3-7), and positioning pins (7-3-2) are respectively arranged on the left side and the right side of the top of the jacking tray (7-3-1); an indexing positioning torsion-resistant assembly (7-3-9) is arranged on one side of the bottom of the jacking tray (7-3-1), and an origin detection assembly (7-3-8) is arranged on the other side of the bottom of the jacking tray (7-3-1).
7. A gear wheel assembly line according to claim 5, wherein: the jacking support mechanism (7-4) comprises another Y-direction adjustable plate, another X-direction adjustable plate, another floating joint, another jacking cylinder, a slide rail transition support plate, a support slide rail, a cylinder, a press-fitting support block, a jacking support plate and another guide support component, another Y-direction adjustable plate (7-4-9) is arranged on another X-direction adjustable plate (7-4-8), the bottom of the periphery of the jacking support plate (7-4-11) is respectively connected with one end of another guide support component (7-4-10), the other end of another guide support component (7-4-10) respectively penetrates through another Y-direction adjustable plate (7-4-9) and another X-direction adjustable plate (7-4-8) to be fixed with the frame (14), an extending shaft of another jacking cylinder (7-4-7) is connected to one side of the bottom of the jacking support plate (7-4-11), the bottom of the other jacking cylinder (7-4-7) is connected with the other Y-direction adjustable plate (7-4-9); the jacking supporting plate (7-4-11) is of a C-shaped panel structure, a press-fitting supporting block (7-4-1) is arranged below the middle part of the jacking supporting plate (7-4-11), the bottom of the press-fitting supporting block (7-4-1) is connected with a sliding rail transition supporting plate (7-4-5) through a supporting sliding rail (7-4-4), one side of the sliding rail transition supporting plate (7-4-5) is connected with an air cylinder (7-4-3) through an air cylinder support (7-4-2), an extending shaft of the air cylinder (7-4-3) penetrates through the air cylinder support (7-4-2), and is connected with the press-fitting supporting block (7-4-1) through another floating joint (7-4-6); the slide rail transition carrier plate (7-4-5) is fixedly connected with another Y-direction adjustable plate (7-4-9).
8. A gear wheel assembly line according to claim 2, wherein: the bottom of the nail picking and tightening robot (10) is fixedly connected with the ground through a robot base, the nail picking and tightening robot (10) is a four-shaft robot, a nail feeding machine (15) is arranged on the ground between the nail picking and tightening robot (10) and the screw feeding and feeding machine (13), and the nail feeding machine (15) is a one-out two-type nail feeding machine.
9. A gear wheel assembly line according to claim 1, wherein: the bottom of going up unloading robot (4) pass through the robot base and be connected fixedly with ground, the top of going up unloading robot (4) adopts connecting plate (16) to connect the one end of parallel gas claw (17), the other end of parallel gas claw (17) connects robot clamping jaw (19), the upper portion that is located robot clamping jaw (19) is equipped with centering and transfers test piece (18).
10. A gear wheel assembly line according to claim 1, wherein: the roller way conveying line (3) is uniformly provided with a plurality of tool tray assemblies (5).
11. A gear wheel assembly line according to claim 1, wherein: and guardrails (8) are arranged on the outer sides of the tightening shaft control cabinet and the power distribution cabinet (11), the press-fitting tightening equipment, the feeding trolley (1), the feeding and discharging robot (4) and the feeding and discharging robot control cabinet (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010810320.9A CN111922710A (en) | 2020-08-13 | 2020-08-13 | Gear wheel assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010810320.9A CN111922710A (en) | 2020-08-13 | 2020-08-13 | Gear wheel assembly line |
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| CN111922710A true CN111922710A (en) | 2020-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010810320.9A Pending CN111922710A (en) | 2020-08-13 | 2020-08-13 | Gear wheel assembly line |
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| CN113146173A (en) * | 2021-03-24 | 2021-07-23 | 精进百思特电动（上海）有限公司 | Middle shell press-fitting mechanism |
| CN113414572A (en) * | 2021-07-14 | 2021-09-21 | 星河智源(深圳)科技有限公司 | Automatic cartridge machine of gear shaft |
| CN113601136A (en) * | 2021-08-23 | 2021-11-05 | 陕西同力达智能科技股份有限公司 | Servo press mounting equipment for assembling driving gear and driven gear |
| CN113953797A (en) * | 2021-10-19 | 2022-01-21 | 上海克来盛罗自动化设备有限公司 | Electric drive assembly assembling equipment |
| CN114273882A (en) * | 2021-12-22 | 2022-04-05 | 津上智造智能科技江苏有限公司 | Assembly automatic production line and assembly method thereof |
| CN114734240A (en) * | 2022-06-15 | 2022-07-12 | 天津航天机电设备研究所 | Automatic equipment for assembling and screwing separation nut assembly |
| CN116276021A (en) * | 2023-05-11 | 2023-06-23 | 坤泰车辆系统(常州)股份有限公司 | Combined device for tightening box of hybrid power transmission |
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