CN112872756A

CN112872756A - Automatic intelligent assembling system and method for gear box

Info

Publication number: CN112872756A
Application number: CN202110049214.8A
Authority: CN
Inventors: 姜琳; 李光耀; 王泳; 闫波
Original assignee: Loteem Beijing Rail Transit Technology Co Ltd
Current assignee: Loteem Beijing Rail Transit Technology Co Ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2021-06-01

Abstract

The invention discloses an automatic intelligent assembly system and method of a gear box, wherein the system comprises the following components: the system comprises a torque workstation, a multi-degree-of-freedom tilter, a robot and a server; a torque workstation and a multi-degree-of-freedom tilter form an assembly unit; each assembling unit is provided with a robot station and a manual station; a robot corresponds to more than one assembly unit; each torque workstation and each robot are connected with a server; the multi-degree-of-freedom turnover machine is used for adjusting the pose of the gear box according to three assembly operations of gear box closing, large gear clearance adjustment and pinion box entering, wherein the pose comprises a horizontal state and a vertical state; switching the gear box between a robot station and a manual station according to the three assembly operations; the torque workstation and the robot are connected with the server. The invention integrates three assembly operations into a whole, so that the operation process is more compact, the time consumed by materials is reduced, the operation personnel is simplified, the efficiency is improved, and the intelligent management of maintenance data is realized.

Description

Automatic intelligent assembling system and method for gear box

Technical Field

The invention belongs to the technical field of gear box assembly, and particularly relates to an automatic intelligent assembly system and method for a gear box.

Background

The axle gear box overhaul is important content in the axle overhaul, and particularly in a high-grade overhaul process, the overhaul process is long, the related content is more, the technical requirement is high, and the associated factors are strong. For example, the CRH3, 380B and CR400BF high-grade repair gearbox shaft overhauling stations mainly comprise three stations of gearbox assembling, large gear clearance adjustment and pinion assembling. At present, due to the lack of professional tightening system equipment and tools, the problem of the assembling operation of the bogie gearbox shaft between the high-grade repair of the motor train section is as follows:

firstly, the maintenance stations are dispersed, and the efficiency is low. The assembly process of the existing gear box bearing clearance adjustment procedure is divided into three independent stations, namely a gear box assembling station, a large gear clearance adjustment station and a small gear box entering station. The layout of the stations is dispersed, and the distance exists between the stations, so that the time for transferring parts among the stations is increased; to finish the overhaul work of the gear shaft at the three stations, at least three operators are needed; the manual operation has the characteristics that fatigue easily occurs, excessive manual operation is relied on, potential safety hazards easily occur when workers are engaged in work with large quantity and high repeatability, and the consumption of time cost and personnel cost in the operation process is large.

Secondly, the operation tool is more primitive, and intensity of labour is big, and there is the potential safety hazard in the hoist and mount operation. The overhauling operation of the gearbox shaft of the motor train unit is different from the overhauling operation of a wheel set, and the wheel set operation does not have a larger safety problem because wheels can roll on a ground track; however, the gearbox shaft is heavy (nearly 1 ton), large in external dimension and irregular in shape, so that workpieces are frequently transferred by using a crown block hoisting mode between different processes at the same station or between different stations according to the previous operation mode, and the frequent hoisting of the workpieces with large volume and heavy weight has potential safety hazards and risks of falling of the workpieces no matter the workpieces are considered in the sense of people or in the actual operation scene.

And thirdly, the intelligent management of the overhaul data is weak, and the overhaul process is lack of real-time guidance. At present, the field maintenance data adopts a manual recording mode, human errors exist, and a maintenance data stream of a complete flow can not be formed for quality control, maintenance process analysis and optimization maintenance management. Key stations such as part maintenance, gear box assembly, debugging and assembly of the gear box have great influence on maintenance efficiency, but the prior art has high requirements on the skill and proficiency of an operator and cannot guide the maintenance process quickly and in real time.

Disclosure of Invention

In response to the above-identified deficiencies in the art or needs for improvement, the present invention provides a system and method for automated, intelligent assembly of a gearbox.

The invention provides an automatic intelligent assembling system of a gear box, wherein the gear box comprises a gear shaft, a gear assembly sleeved on the gear shaft and a gear box body buckled on the periphery of the gear assembly; the gear assembly comprises a gearwheel and a pinion, the gearwheel is sleeved on the gear shaft, and the pinion is meshed with the gearwheel; the gear box body comprises an upper box body and a lower box body which are matched with each other; the gearbox body is provided with a large gear bearing seat corresponding to the large gear, and the gearbox body is provided with a small gear bearing seat corresponding to the small gear; the method comprises the following steps:

the system comprises a torque workstation, a multi-degree-of-freedom tilter, a robot and a server;

the torque workstation and the multi-degree-of-freedom overturning machine form an assembly unit; each assembling unit is provided with a robot station and a manual station;

the robot corresponds to more than one assembling unit; each torque workstation and each robot are connected with the server;

the multi-degree-of-freedom turnover machine is used for adjusting the pose of the gear box according to three assembly operations of gear box combination, large gear clearance adjustment and pinion box entering, wherein the pose comprises a horizontal state and a vertical state; switching the gear box between the robot station and the manual station according to the three assembling operations;

the torque workstation is used for acquiring the operation data of the gearbox on the manual station and transmitting the operation data to the server; the torque workstation is arranged at the manual station;

the robot is used for acquiring the pose of the gear box on the robot station, screwing the corresponding bolt for assembly operation according to the pose, and transmitting the torque data of the bolt to the server.

Optionally, the gearbox is combined: enabling the gear box to be in a horizontal state through the multi-degree-of-freedom turnover machine at the manual station, and enabling the upper box body and the lower box body to be combined through the screwing operation of the upper box body and the lower box body so as to complete the combination of the gear box, so that the lower box body and the upper box body form the gear box body; the torque workstation acquires tightening data of bolts used for connecting the upper box body and the lower box body in the tightening operation and transmits the tightening data to the server; the gear box body and the large gear bearing seat are pre-screwed to realize that the large gear bearing seat is pre-installed on the gear box body; the torque workstation acquires pre-tightening data of bolts used for connecting the large gear bearing seat and the gear box body in the pre-tightening operation and transmits the pre-tightening data to the server; the robot is screwed down for the first time: switching the gear box in a horizontal state from the manual station to the robot station, and screwing bolts for connecting the large gear bearing block and the gear box body through the robot; the robot transmits the torque data of the bolt to the server; adjusting the clearance of the large gear: switching the gear box from the robot station to the manual station, switching the gear box from a horizontal state to a vertical state through the multi-degree-of-freedom turnover machine, and disassembling one large gear bearing seat to finish clearance adjustment of the large gear; the torque workstation acquires gear wheel play data of the gear wheel play adjustment and transmits the gear wheel play data to the server; the gear box body and the large gear bearing seat are pre-screwed to realize that the large gear bearing seat is pre-installed on the gear box body; the torque workstation acquires pre-tightening data of bolts used for connecting the large gear bearing seat and the gear box body in the pre-tightening operation and transmits the pre-tightening data to the server; putting the pinion into a box: mounting the pinion to the gearbox housing to complete the pinion in-box and pinion lash adjustment, the torque station acquiring pinion lash data for the pinion lash adjustment and transmitting it to the server; the pinion bearing seat is pre-mounted on the gear box body through pre-tightening operation of the gear box body and the pinion bearing seat; the torque workstation acquires pre-tightening data of bolts used for connecting the pinion bearing seat and the gearbox body in the pre-tightening operation and transmits the pre-tightening data to the server; and (3) secondary screwing of the robot: switching the gear box from the manual station to the robot station, and screwing bolts for connecting the large gear bearing seat with the gear box body and for connecting the small gear bearing seat with the gear box body through the robot; the robot transmits torque data of the bolt to the server.

Optionally, the multi-degree-of-freedom tilter comprises a driving mechanism and a bearing frame for placing the gear box; at least two bearing frames are horizontally and circumferentially arranged on the driving mechanism, and the driving mechanism is used for providing driving force for the bearing frames to rotate along the horizontal direction so as to realize the switching of the gear shafts placed on the bearing frames between the robot station and the manual station; the driving mechanism is used for providing a driving force for the bearing frame to rotate along the vertical direction, so that the gear shaft placed on the bearing frame can be switched between a horizontal state and a vertical state.

Optionally, the load-bearing frame comprises a frame body, a load-bearing support, a limiting support, a gearbox bracket and a guide bracket; the bearing support is rotatably arranged on the frame body along the radial direction of the gear shaft so as to support the gear shaft in a horizontal state from bottom to top along the vertical direction;

the limiting bracket is rotatably arranged on the frame body along the radial direction of the gear shaft so as to limit the gear shaft in a vertical state; the gear box bracket is rotatably arranged on the frame body along the radial direction of the gear shaft so as to support the lower box body from bottom to top along the vertical direction to realize the box combination of the lower box body and the upper box body; the guide bracket is arranged on the frame body, and can move back and forth close to or far away from the gear shaft along the vertical direction so as to support the gear shaft in a horizontal state from bottom to top along the vertical direction or hang the gear shaft in a vertical state along the radial direction of the gear shaft.

Optionally, the gearbox bracket comprises a box body bracket, a second telescopic structure, a horizontal guide rail, a horizontal slider and a horizontal driving structure; the ninth end of the box body bracket is rotatably arranged on the frame body, and the tenth end of the box body bracket is provided with a bearing groove for bearing the lower box body; the horizontal guide rail is arranged on the frame body; the horizontal sliding block is connected with the horizontal guide rail in a sliding manner; the horizontal driving structure is connected with the horizontal sliding block so as to realize the sliding of the horizontal sliding block on the horizontal guide rail along the axial direction of the gear shaft; the tenth end of the second telescopic structure is connected with the frame body, the twelfth end of the second telescopic structure is connected with the tenth end of the box body bracket in a rotating mode, the second telescopic structure actuates the tenth end of the box body bracket to wind the ninth end of the box body bracket to rotate along the radial direction of the gear shaft, and therefore the bearing groove is close to or far away from the gear shaft.

Optionally, the manual station is further provided with a jacking device corresponding to the gear box, the jacking device is used for jacking the gear shaft, and the jacking device is connected with the torque workstation; and the torque workstation acquires a jacking force value of the jacking device for jacking the gear shaft and transmits the jacking force value to the server.

Optionally, the torque workstation comprises a wireless torque wrench and a wireless torque workstation, the wireless torque wrench and the wireless torque workstation are wirelessly connected, and the wireless torque workstation is connected with the server and is used for transmitting the operation data to the server; the wireless torque wrench is used for pre-tightening operation and tightening operation of bolts, collecting pre-tightening data corresponding to the pre-tightening operation and tightening data corresponding to the tightening operation, and transmitting the collected pre-tightening data and tightening data to the wireless torque workstation; the operation data comprises pre-tightening data and tightening data; the wireless torque workstation is used for information management of working tools and working personnel and transmitting the obtained working data to the server.

Optionally, the server acquires that each multi-degree-of-freedom turnover machine adjusts the pose of the gear box according to three assembling operations of gear box combination, large gear clearance adjustment and pinion box entering; distributing the robot corresponding to each multi-degree-of-freedom turnover machine to a corresponding position according to the pose so as to tighten a bolt corresponding to the pose; and/or each assembling unit is provided with a safety protection device which is arranged between the manual station and the robot station so as to enable the manual station and the robot station to be independent.

Optionally, the automatic sleeve replacing device and the automatic robot verifying device are further included; the robot comprises a robot body, a visual identification sensor, an electric tightening shaft and a tightening shaft controller, wherein the visual identification sensor, the electric tightening shaft and the tightening shaft controller are installed on the robot body; the electric tightening shaft is connected with the tightening shaft controller, and the tightening shaft controller is connected with the server; the automatic sleeve replacing device is used for replacing a sleeve which is replaceably arranged on the electric tightening shaft and is used for tightening a bolt; the automatic sleeve replacing device is connected with the server; the robot automatic checking device is used for automatically checking the electric tightening shaft; and the robot automatic checking device is connected with the server.

The invention also provides an automatic intelligent assembling method of the gearbox, which is suitable for the automatic intelligent assembling system of the gearbox, and comprises the following steps:

assembling the gear box: enabling the gear box to be in a horizontal state through the multi-degree-of-freedom turnover machine at the manual station, and enabling the upper box body and the lower box body to be combined through the screwing operation of the upper box body and the lower box body so as to complete the combination of the gear box, so that the lower box body and the upper box body form the gear box body; the torque workstation acquires tightening data of bolts used for connecting the upper box body and the lower box body in the tightening operation and transmits the tightening data to the server; the gear box body and the large gear bearing seat are pre-screwed to realize that the large gear bearing seat is pre-installed on the gear box body; the torque workstation acquires pre-tightening data of bolts used for connecting the large gear bearing seat and the gear box body in the pre-tightening operation and transmits the pre-tightening data to the server;

the robot is screwed down for the first time: switching the gear box in a horizontal state from the manual station to the robot station, and screwing bolts for connecting the large gear bearing block and the gear box body through the robot; the robot transmits the torque data of the bolt to the server;

adjusting the clearance of the large gear: switching the gear box from the robot station to the manual station, switching the gear box from a horizontal state to a vertical state through the multi-degree-of-freedom turnover machine, and disassembling one large gear bearing seat to finish clearance adjustment of the large gear; the torque workstation acquires gear wheel play data of the gear wheel play adjustment and transmits the gear wheel play data to the server; the gear box body and the large gear bearing seat are pre-screwed to realize that the large gear bearing seat is pre-installed on the gear box body; the torque workstation acquires pre-tightening data of bolts used for connecting the large gear bearing seat and the gear box body in the pre-tightening operation and transmits the pre-tightening data to the server;

putting the pinion into a box: mounting the pinion to the gearbox housing to complete the pinion in-box and pinion lash adjustment, the torque station acquiring pinion lash data for the pinion lash adjustment and transmitting it to the server; the pinion bearing seat is pre-mounted on the gear box body through pre-tightening operation of the gear box body and the pinion bearing seat; the torque workstation acquires pre-tightening data of bolts used for connecting the pinion bearing seat and the gearbox body in the pre-tightening operation and transmits the pre-tightening data to the server;

and (3) secondary screwing of the robot: switching the gear box from the manual station to the robot station, and screwing bolts for connecting the large gear bearing seat with the gear box body and for connecting the small gear bearing seat with the gear box body through the robot; the robot transmits torque data of the bolt to the server.

In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:

(1) the three assembling operations of gear box combination, large gear clearance adjustment and pinion box entering are integrated, so that the operation process is more compact, the processes and time for material handling, taking and hoisting are reduced, and the operation personnel are simplified; the occupied space of the operation is saved and the operation efficiency is improved.

(2) Compared with the original operation mode of overhead hoisting in the operation process of large gear clearance adjustment, the multi-freedom-degree tilter reduces the hoisting times and time, ensures the safety and stability of manual operation and improves the working efficiency. Preferably, the multi-degree-of-freedom tilter also realizes the partition operation of the robot station and the manual station, improves the safety of the operation of the tilter, and avoids the problem of human-computer interference in the operation process of the robot or the potential personal safety hazard of the robot to operators.

(3) The multi-degree-of-freedom overturning machine is used for realizing the coordination operation of a manual work and an automatic robot tightening system, the complex and single work is handed to the manual work for operation, the large-quantity, high-repeatability and high-labor intensity work is handed to the robot for drying, the respective advantages of the robot and the manual work are exerted to the maximum, and the operation efficiency and the accuracy are improved. More preferably, the torque workstation can realize carrying out quick, real-time guidance to the maintenance process of gear box, ensures the comfort of whole maintenance process.

(4) The multi-degree-of-freedom overturning machine, the robot, the server, the intelligent tightening tool and the measuring tool are combined, real-time acquisition, automatic calculation and automatic storage of detection information data of the parts of the gear box are achieved, and data analysis and tracing are facilitated. Meanwhile, the overhaul station has the condition of accessing an information management system, and the overhaul management is optimized.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of an automated intelligent gearbox assembly system of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a front view structural schematic diagram of FIG. 1;

FIG. 4 is a schematic top view of the structure of FIG. 1;

FIG. 5 is a schematic structural view of an embodiment of the gearbox multiple degree of freedom tilter of the present invention;

FIG. 6 is a schematic structural diagram of another embodiment of the gearbox multiple degree of freedom tilter of the invention;

FIG. 7 is a schematic top view of the structure of FIG. 6;

FIG. 8 is a schematic structural view of another embodiment of the gearbox multiple degree of freedom tilter of the present invention;

FIG. 9 is an exploded view of a gearbox of a motor train unit;

fig. 10 is a schematic view of the combined structure of fig. 9.

In all the figures, the same reference numerals denote the same features, in particular: 1-gear box, 11-gear shaft, 111-shoulder, 121-large gear, 122-small gear, 13-gear box, 131-lower box, 132-upper box, 141-large gear bearing seat, 142-small gear bearing seat, 2-multi-degree-of-freedom tipper, 21-driving mechanism, 211-turntable, 212-driving rack, 213-rotating structure, 22-frame body, 23-bearing support, 231-swing arm, 232-connecting block, 233-first connecting arm, 234-second connecting arm, 235-first telescopic structure, 236-bracket, 237-abutting part, 24-limiting support, 25-gear box bracket, 251-box bracket, 252-second telescopic structure, 253-horizontal guide rail, and, 254-horizontal sliding block, 26-guide bracket, 261-bracket body, 262-box body supporting block, 263-linear driving structure, 264-first arc-shaped hoop, 265-second arc-shaped hoop, 27-control cabinet, 28-hydraulic pump station, 3-torque workstation, 4-robot, 41-robot body, 42-visual recognition sensor, 43-electric tightening shaft, 44-robot track, 45-robot cable, 5-safety protection device, 6-sleeve automatic replacement device, 7-robot automatic verification device, 8-jacking device, 9-assembly unit, 91-robot station and 92-manual station.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 9 and 10, a gear box 1 of a motor train unit includes a gear shaft 11, a gear assembly sleeved on the gear shaft 11, and a gear box body 13 fastened on the outer periphery of the gear assembly; the gear assembly comprises a large gear 121 and a small gear 122, the large gear 121 is sleeved on the gear shaft 11, and the small gear 122 is meshed with the large gear 121; the gear housing 13 includes upper and

lower mating housings

132 and 131; the gear housing 13 is provided with a bull gear bearing seat 141 corresponding to the bull gear 121, and the gear housing 13 is provided with a pinion gear bearing seat 142 corresponding to the pinion gear 122.

In one embodiment of the present invention, as shown in fig. 1-8, a gearbox automated intelligent assembly system comprises: the system comprises a torque workstation 3, a multi-degree-of-freedom tilter 2, a robot 4 and a server; a torque workstation 3 and a multi-degree-of-freedom tilter 2 form an assembly unit 9; each assembly unit 9 is provided with a robot station 91 and a manual station 92; a robot 4 corresponds to more than one assembly unit 9; each torque workstation 3 and each robot 4 are connected with a server; the multi-degree-of-freedom turnover machine 2 is used for adjusting the pose of the gear box 1 according to three assembly operations of gear box combination, large gear clearance adjustment and pinion box entering, and the pose comprises a horizontal state and a vertical state; switching the gear box 1 between the robot 4 station and the manual station 92 according to three assembly operations; the torque workstation 3 is used for acquiring operation data of the gearbox 1 at the manual station 92 and transmitting the operation data to the server; the torque workstation 3 is arranged at a manual station 92; the robot 4 is used for acquiring the pose of the gear box 1 at the robot station 91, screwing the corresponding bolt for assembly operation according to the pose, and transmitting torque data of the bolt to the server.

In practical application, the invention can specifically carry out three assembly operations (gear box assembling, large gear clearance adjustment and pinion gear box entering) of the gear box 1 in sequence, and the specific steps are as follows:

assembling the gear box: enabling the gear box 1 to be in a horizontal state through the multi-degree-of-freedom turnover machine 2 at the manual station 92, and enabling the upper box body 132 and the lower box body 131 to be combined through screwing operation of the upper box body 132 and the lower box body 131 to complete gear box combination, so that the lower box body 131 and the upper box body 132 form the gear box body 13; the torque workstation 3 acquires tightening data of bolts for connecting the upper case 132 and the lower case 131 in the tightening work and transmits it to the server; the large gear bearing seat 141 is pre-installed on the gear box body 13 through pre-tightening operation of the gear box body 13 and the large gear bearing seat 141; the torque workstation 3 acquires the pre-tightening data of the bolts for connecting the large gear bearing housing 141 and the gear housing 13 in this pre-tightening work and transmits it to the server.

Specifically, the lower case 131 and the upper case 132 are directly assembled by a manual work through bolts, and the wireless torque wrench (or wired torque wrench) used for the tightening will transmit the tightening data for each bolt to the torque station 3, the torque station 3 in turn to the server, in practical application, in order to facilitate the server to correspondingly collect the tightening data of each bolt, an operator can install the bolts one by one according to a preset set sequence, the specific installation sequence can be transmitted to the torque workstation 3 through the server, so that the operator can conveniently operate and realize the torque workstation 3 or the torque workstation 3 automatically prompts the operator to operate and realize the torque workstation according to the requirements, and the like, thereby realizing the matching of each bolt and the connecting hole corresponding to the bolt, and facilitating the data storage, tracing, analysis, targeted maintenance, even replacement and other operations. After the lower box 131 and the upper box 132 are closed, an operator pre-installs two bull gear bearing blocks 141 on the gear box 13 respectively through a wireless torque wrench (or a wired torque wrench), and the two bull gear bearing blocks 141 are respectively arranged at two ends of the bull gear 121 along the axial direction of the gear shaft 11. A wireless torque wrench (or wired torque wrench) used for the pre-tightening operation of the bull gear bearing block 141 and the gearbox housing 13 will transmit the pre-tightening data for each bolt to the torque station 3, which in turn transmits the torque station 3 to the server. Similarly, in order to facilitate the server to correspondingly collect the tightening data of each bolt, an operator can install the bolts one by one according to a preset set sequence, the specific installation sequence can be transmitted to the torque workstation 3 through the server, so that the operator can conveniently operate and realize the torque workstation 3 according to requirements, or the torque workstation 3 automatically prompts the operator to operate and realize the torque workstation according to requirements, and the like, thereby realizing the matching of each bolt and the connecting hole corresponding to the bolt, and facilitating the data storage, the tracing, the analysis, the targeted maintenance and the operation such as replacement.

The robot is screwed down for the first time: the gear box 1 in a horizontal state is switched to a robot station 91 from a manual station 92, and bolts for connecting a large gear bearing block 141 and a gear box body 13 are screwed up through a robot 4; the robot 4 transmits the torque data of the bolt to the server.

Specifically, the multi-degree-of-freedom turnover machine 2 switches the gear box 1 which is subjected to gear box combination and is in a horizontal state from a manual station 92 to a robot station 91, the server sends the robot 4 corresponding to the multi-degree-of-freedom turnover machine 2 to a specified position according to signals such as programs, instructions or production beats, the two large gear bearing blocks 141 on two sides of the large gear 121 are respectively screwed, and torque data of each bolt is transmitted to the server. In order to facilitate the server to obtain the torque data of each bolt, the screwing sequence of the robot 4 during the bolt screwing operation is preferably performed according to a preset rule, so that the matching of each bolt and the corresponding connecting hole of the bolt is realized, and the operations of data storage, source tracing, analysis, targeted repair and maintenance, even replacement and the like are facilitated.

Adjusting the clearance of the large gear: switching the gear box 1 from the robot station 91 to the manual station 92, switching the gear box 1 from a horizontal state to a vertical state through the multi-degree-of-freedom turnover machine 2, and disassembling one large gear bearing seat 141 to complete large gear backlash adjustment; the torque workstation 3 acquires the bull gear play data of the bull gear play adjustment and transmits the bull gear play data to the server; the large gear bearing block 141 is pre-mounted on the gear box body 13 by pre-tightening the gear box body 13 and the large gear bearing block 141; the torque workstation 3 acquires the pre-tightening data of the bolts for connecting the bull gear bearing block 141 and the gear housing 13 in the pre-tightening work and transmits it to the server.

Specifically, after the robot 4 completes the first tightening operation of the two large gear bearing blocks 141, the multi-degree-of-freedom tilter 2 switches the gear box 1 located at the robot station 91 to the manual station 92, and switches the gear shaft 11 from the horizontal state to the vertical state, the operator detaches the large gear bearing block 141 to be detached from the gear box body 13 and performs large gear backlash adjustment, and transmits the large gear backlash data to the torque workstation 3 through a backlash measuring tool for performing the large gear backlash adjustment, and the torque workstation 3 transmits the large gear backlash data to the server. After the gear clearance is adjusted, the operator pre-installs the large gear bearing seat 141 in the gear box body 13 through the bolts by using a wireless torque wrench (or a wired torque wrench), and the wireless torque wrench (or the wired torque wrench) transmits pre-tightening data of each bolt to the torque workstation 3 and transmits the pre-tightening data to the server by the torque workstation 3.

Putting the pinion into a box: mounting the pinion 122 to the gearbox housing 13 to complete pinion in-box and pinion lash adjustment, the torque station 3 acquiring pinion lash data for pinion lash adjustment and transmitting it to the server; the pinion bearing seat 142 is pre-mounted on the gear case 13 by pre-tightening the gear case 13 and the pinion bearing seat 142; the torque station 3 acquires the data of the pre-tightening of the bolts for connecting the pinion bearing housing 142 and the gear housing 13 in the pre-tightening work and transmits it to the server.

Specifically, after the gear wheel backlash adjustment is completed, the pinion is put into a box at the manual station 92 and the gear box 1 is in the vertical state, the pinion backlash is adjusted after the pinion is put into the box, and pinion backlash data is transmitted to the torque workstation 3 through a backlash measuring tool for performing the pinion backlash adjustment (i.e., a backlash measuring tool for the gear wheel backlash adjustment), and is transmitted to the server by the torque workstation 3. After the pinion backlash is adjusted, the pinion bearing blocks 142 provided separately to the pinion 122 in the axial direction of the gear shaft 11 are pre-mounted to the gear housing 13 by a wireless torque wrench (or a wired torque wrench) using bolts.

And (3) secondary screwing of the robot: the gear box 1 is switched from a manual station 92 to a robot station 91, and bolts for connecting the large gear bearing block 141 and the gear box body 13 and for connecting the small gear bearing block 142 and the gear box body 13 are screwed through the robot 4; the robot 4 transmits the torque data of the bolt to the server.

Specifically, the multi-degree-of-freedom tipper 2 switches the gear box 1 at the manual station 92 to the robot station 91, and the server sends the robot 4 corresponding to the multi-degree-of-freedom tipper 2 to the corresponding position, performs tightening operations on the nuts of the large gear bearing block 141 and the small gear bearing block 142, and transmits tightening data (a torque value, a tightening angle, a tightening curve, and the like) of each nut to the server.

Optionally, the server acquires the pose of each multi-degree-of-freedom turnover machine 2 according to three assembling operations of gear box combination, large gear clearance adjustment and pinion box entering, so as to adjust the gear box 1; and distributing the robot 4 corresponding to each multi-degree-of-freedom tilter 2 to a corresponding position according to the pose so as to tighten the bolt corresponding to the pose. The server can acquire the pose through the action of the multi-degree-of-freedom tilter 2, an instruction input by an operator, a production beat or a preset program.

Optionally, the torque workstation 3 comprises a wireless torque wrench, a play measuring tool and a wireless torque workstation, the wireless torque wrench, the play measuring tool and the wireless torque workstation are wirelessly connected, and the wireless torque workstation is connected with the server and used for transmitting the operation data to the server; the wireless torque wrench is used for pre-tightening operation and tightening operation of bolts, collecting pre-tightening data corresponding to the pre-tightening operation and tightening data corresponding to the tightening operation, and transmitting the collected pre-tightening data and tightening data to the wireless torque workstation; the operation data comprises pre-tightening data and tightening data; the clearance measuring tool is used for measuring the clearance data of the large gear and the clearance data of the small gear; the wireless torque workstation is used for information management of the working tools and the working personnel and transmitting the obtained working data to the server. It should be noted that the operation data of the present invention includes all data of manual operation, such as tightening data of nuts for connecting the upper case 132 and the lower case 131, two times of pre-tightening data of the gear case 13 and the large gear bearing seat 141, pre-tightening data of the gear case 13 and the small gear bearing seat 142, large gear backlash data, small gear backlash data, operator information, and the like, so as to realize matching between an operator and a corresponding gear case 1, and facilitate data source tracing and responsibility tracing in the later period.

In practical application, the whole torque workstation 3 is of an aluminum alloy structure, and comprises a computer host, a display screen, a code scanner, a mouse keyboard, a pre-tightening wrench, a hand-held machine, a clearance measuring tool, a common tool, auxiliary materials and the like for manual operation, and is used for managing and controlling the operation process through operation process management software. The operator can conveniently carry out the sequential operation of the manual stations 92 according to operation videos or prompts and the like.

Optionally, the multiple degree of freedom tipper 2 comprises a driving mechanism 21 and a bearing frame for placing the gear box 1; at least two bearing frames are horizontally and circumferentially arranged on a driving mechanism 21, the driving mechanism 21 is used for providing driving force for the bearing frames to rotate along the horizontal direction, and therefore switching of a gear shaft 11 placed on the bearing frames between a robot station 91 and a manual station 92 is achieved; the driving mechanism 21 is used for providing a driving force for the rotation of the load-bearing frame along the vertical direction so as to realize the switching between the horizontal state and the vertical state of the gear shaft 11 placed on the load-bearing frame.

In practical application, a station is correspondingly arranged corresponding to each bearing frame, so that even stations which are circumferentially arranged and are sequentially arranged at intervals for the manual station 92 and the robot station 91 are formed, and the bearing frames are driven by the driving mechanism 21 to horizontally rotate forwards and backwards to realize the switching of the gear box 1 between the manual station 92 and the robot station 91 corresponding to the gear box. For example, as shown in fig. 1 to 8, the multi-degree-of-freedom tipper 2 is provided with two bearing frames which are oppositely arranged along the horizontal direction, so that each multi-degree-of-freedom tipper 2 is provided with a device with two stations, namely an artificial station 92 and a robot station 91, when the gear shaft 11 needs to be switched between the artificial station 92 and the robot station 91, the driving mechanism 21 drives the bearing frames to horizontally rotate 180 degrees, and more preferably, because an operator corresponds to the artificial station 92 and the robot 4 corresponds to the robot station 91, and the operations of the two stations are not interfered with each other, the multi-degree-of-freedom tipper 2 can realize the simultaneous operation of the artificial station 92 and the robot station 91 (of course, the contents of the manual operation and the robot operation are different), thereby greatly improving the assembly efficiency of the present invention. It is to be noted that in another embodiment of the invention, the two load-bearing frames may also be arranged at an angle of less than 180 °, but shall also fall within the scope of the invention. When the multi-degree-of-freedom tipper 2 is provided with more than three load-bearing frames, the manual station 92 and the robot station 91 are correspondingly arranged according to the operation characteristics of the invention, and the description is omitted.

Optionally, the load-bearing frame comprises a frame body 22, a load-bearing support 23, a limit support 24, a gearbox bracket 25 and a guide bracket 26; the bearing support 23 is rotatably arranged on the frame body 22 along the radial direction of the gear shaft 11 so as to support the gear shaft 11 in a horizontal state from bottom to top along the vertical direction; the limiting bracket 24 is rotatably arranged on the frame body 22 along the radial direction of the gear shaft 11 to limit the gear shaft 11 in a vertical state; the gear box bracket 25 is rotatably arranged on the frame body 22 along the radial direction of the gear shaft 11 so as to support the lower box body 131 from bottom to top along the vertical direction to realize the box combination of the lower box body 131 and the upper box body 132; the guide bracket 26 is disposed on the frame body 22, and the guide bracket 26 can reciprocate along the vertical direction to be close to or far from the gear shaft 11, so as to support the gear shaft 11 in the horizontal state from bottom to top along the vertical direction, or to hang the gear shaft 11 in the vertical state along the radial direction of the gear shaft 11.

In practical application, when the gear box 1 is assembled, firstly, the lower box body 131 is hoisted to the gear box bracket 25, so that the gear box bracket 25 supports the lower box body 131; then, the gear shaft 11 is hoisted and placed on the bearing support 23 and the guide bracket 26 in a horizontal state, so that the bearing support 23 and the guide bracket 26 support the gear shaft 11, and the lower box body 131 is positioned below the gear shaft 11; then, actuating the gear box bracket 25, and supporting the lower box body 131 from bottom to top along the vertical direction to enable the lower box body 131 and the upper box body 132 to be combined to realize the combining of the gear box 1, at the moment, the upper box body 132 can be hoisted to the upper part of the lower box body 131, so that the combining operation of the upper box body 132 and the lower box body 131 is facilitated, and bolts, glue and torque are installed; then, the driving mechanism 21 actuates the bearing frames to rotate along the horizontal direction, so that each bearing frame is switched to the next station, the limiting bracket 24 is actuated to surround the gear shaft 11, then the driving mechanism 21 actuates the bearing frames to rotate along the vertical direction, so that the gear shaft 11 is switched from the horizontal state to the vertical state, and the gear shaft 11 in the vertical state is hung on the guide bracket 26. Specifically, when the bearing blocks (large gear bearing block 141 and small gear bearing block 142) are screwed down by the robot 4, the bearing block bolts can be pre-tightened manually before the robot rotates horizontally, and when the driving mechanism 21 actuates the bearing frame to rotate horizontally to the next station (i.e. robot station 91), the robot 4 screws the bearing blocks to complete the screwing torque; then, horizontally rotating the bearing frame to the next station (manual station 92), then actuating the limiting bracket 24 to surround the gear shaft 11, actuating the bearing frame to rotate along the vertical direction through the driving mechanism 21, switching the gear shaft 11 from the horizontal state to the vertical state, and hanging the gear shaft 11 in the vertical state on the guide bracket 26; then, the large gear backlash adjustment operation is manually performed, at which time the gear box bracket 25 is away from the gear shaft 11 in the radial direction of the gear shaft 11 (in practical applications, the step of actuating the gear box bracket 25 away from the gear shaft 11 is completed before the large gear backlash adjustment operation is performed and after the gear shaft 11 is switched from the horizontal state to the vertical state); then, manually carrying out pinion boxing operation, adjusting the gap and installing bolts; then, the bearing frame is horizontally rotated to be switched to a robot station 91, and the robot 4 performs bolt tightening of a bearing seat and a gear box body 13; then horizontally rotating and switching to a manual station 92, and then hoisting the assembled gear box 1 away. Of course, if the present invention is applied to man-hours, the present invention may be provided in two stations, and integrated into two stations or even number of stations (i.e., even number of load-bearing frames) according to the horizontal state and vertical state of the gear shaft 11, and of course, three stations of gear box assembling, large gear play adjustment, and pinion gear box-entering assembling operation according to the present invention may be integrated into three stations or a multiple of three stations (i.e., multiple of three load-bearing frames). Because the angle of the bearing frame switching station is matched with the angle between two adjacent bearing frames. If the robot 4 is a human being, the invention is preferably arranged with an even number of stations arranged in sequence, a human station 92 and a robot station 91.

Optionally, the driving mechanism 21 includes a driving motor, a turntable 211, a gear, a speed reducer structure, a rotating structure 213, and a driving frame 212; the rotating structure 213 is arranged on the turntable 211, and the driving frame 212 is mounted on the turntable 211 and covers the outer side of the rotating structure; the driving motor is in transmission connection with the rotary table 211 through a gear and speed reducer structure so as to drive the rotary table 211 to rotate along the horizontal direction, and switching of the bearing frame at different stations is realized; the rotating mechanism is connected with the frame body 22 to drive the frame body 22 to rotate along the vertical direction, so that the gear shaft 11 is switched between the horizontal state and the vertical state. In practical application, the rotating mechanism may be a rotating mechanism that realizes rotation, such as a rotating motor or a servo motor.

Optionally, the bearing bracket 23 and the limiting bracket 24 have the same structure, and each of the bearing bracket 23 and the limiting bracket 24 includes a swing arm 231, a connecting block 232, a first connecting arm 233, a second connecting arm 234, and a first telescopic structure 235; the first end of the swing arm 231 is rotatably arranged on the frame body 22, and the second end of the swing arm 231 is provided with a bracket 236 corresponding to the gear shaft 11; the connecting block 232 is connected with the frame body 22; the third end of the first connecting arm 233 is rotatably arranged on the connecting block 232, and the fourth end of the first connecting arm 233 is rotatably connected with the fifth end of the second connecting arm 234; the fifth end of the second connecting arm 234 is connected with the seventh end of the first telescopic structure 235, the sixth end of the second connecting arm 234 is rotatably connected with the second end of the swing arm 231, and the eighth end of the first telescopic structure 235 is connected with the connecting block 232; the first telescopic structure 235 actuates the second connecting arm 234 to rotate about the fourth end of the first connecting arm 233 in the radial direction of the pinion shaft 11 to bring the bracket 236 closer to or farther from the pinion shaft 11.

In practical applications, the bearing bracket 23 and the limiting bracket 24 are preferably disposed on two sides of the gear shaft 11 in a staggered manner along the radial direction of the gear shaft 11, wherein the bearing bracket 23 is disposed below the gear shaft 11, the limiting bracket 24 is disposed above the gear shaft 11, and the gear shaft 11 preferably rotates from the bearing bracket 23 to one side of the limiting bracket 24 along the vertical direction, that is, the limiting bracket 24 is disposed on the same side of the rotation direction when the gear shaft 11 is switched from the horizontal state to the vertical state. Of course, the structure of the bearing bracket 23 and the limiting bracket 24 can be different, and in another embodiment of the present invention, the limiting bracket 24 can be directly installed on the frame body 22 through a hinge structure capable of manually or automatically adjusting the rotation angle, so that the limitation of the limiting bracket 24 on the gear shaft 11 can be manually or programmatically controlled.

Optionally, the first connecting arm 233 includes a first arm lever, a second arm lever, and a connecting beam, one end of the connecting beam is connected to the first arm lever, the other end of the connecting beam is connected to the second arm lever, and the connecting beam is disposed between the third end of the first connecting arm 233 and the fourth end of the first connecting arm 233; the fifth end of the second connecting arm 234 is provided with an abutting portion 237 corresponding to the connecting beam on the side away from the gear shaft 11, so that the abutting portion 237 and the end surface of the second connecting arm 234 on the side close to the gear shaft 11 are abutted to the connecting beam respectively to limit the rotation angle of the second connecting arm 234. The limit of the rotation angle can be realized through the abutting part 237 and the second connecting arm 234 abutting against the connecting beam, the mechanical control of the rotation of the bearing bracket 23 and the limiting bracket 24 is further ensured through mechanical limiting, and the bearing bracket 23 and the limiting bracket 24 are ensured to be in place and accurate in action.

Optionally, the first telescopic structure 235 is disposed between the first arm and the second arm, so as to save the space occupancy rate of the bearing bracket 23 and the limiting bracket 24, and improve the structural compactness of the present invention.

Optionally, the guide bracket 26 includes a bracket body 261, a case holder 262, and a linear driving structure 263; the box supporting block 262 is provided with a first arc-shaped hoop 264 and a second arc-shaped hoop 265 which are buckled and connected corresponding to the gear shaft 11, and the first arc-shaped hoop 264 is connected with the box supporting block 262; the box supporting block 262 is slidably arranged on the bracket body 261, the linear driving structure 263 is arranged on the bracket body 261, and the linear driving structure 263 is connected with the box supporting block 262 so as to drive the box supporting block 262 to be close to or far away from the gear shaft 11 along the radial direction of the gear shaft 11. In practical applications, the bracket body 261 is fixedly connected to the frame body 22, so that the structural strength of the connection between the guide bracket 26 and the frame body 22 is ensured, and the structural strength of the guide bracket 26 capable of suspending the gear case 1 is ensured.

Optionally, the gearbox bracket 25 comprises a box bracket 251 and a second telescopic structure 252; the ninth end of the box bracket 251 is rotatably arranged on the frame body 22, and the tenth end of the box bracket 251 is provided with a bearing groove for bearing the lower box 131; a tenth end of the second telescopic structure 252 is connected with the frame body 22, and a twelfth end of the second telescopic structure 252 is rotatably connected with a tenth end of the box bracket 251; the second telescopic structure 252 actuates the tenth end of the case bracket 251 to rotate about the ninth end of the case bracket 251 in the radial direction of the gear shaft 11 to achieve the seating groove close to or far from the gear shaft 11.

Optionally, the housing bracket 251 is provided with a limit mechanism corresponding to the gear housing 13 to limit the rotation of the gear housing 13 about the gear shaft 11. Because the bearing is arranged between the gear box body 13 and the gear shaft 11, the inner ring of the bearing is connected with the large gear 121, and the outer ring of the bearing is connected with the gear box body 13, when the gear shaft 11 is switched between a horizontal state and a vertical state, the gear box body 13 is prevented from rotating around the gear shaft 11 through the limiting mechanism, so that the pose of the gear box 1 in the whole assembling process is ensured not to be changed, and the gear box 1 is ensured to be assembled smoothly. Preferably, the limiting mechanism is a card or a slot or the like matched with the structure of the gear box body 13.

In another embodiment of the present invention, as shown in fig. 1 to 4, unlike the above-described embodiments, the gear box bracket 25 of the present embodiment includes a box body bracket 251, a second telescopic structure 252, a horizontal guide rail 253, a horizontal slider 254, and a horizontal driving structure; the ninth end of the box bracket 251 is rotatably arranged on the frame body 22, and the tenth end of the box bracket 251 is provided with a bearing groove for bearing the lower box 131; the horizontal guide rail 253 is arranged on the frame body 22; the horizontal sliding block 254 is connected with the horizontal guide rail 253 in a sliding manner; the horizontal driving structure is connected with the horizontal sliding block 254 to realize the sliding of the horizontal sliding block 254 on the horizontal guide rail 253 along the axial direction of the gear shaft 11; the tenth end of the second telescopic structure 252 is connected to the frame body 22, the twelfth end of the second telescopic structure 252 is rotatably connected to the tenth end of the box bracket 251, and the second telescopic structure 252 actuates the tenth end of the box bracket 251 to rotate around the ninth end of the box bracket 251 along the radial direction of the gear shaft 11, so as to enable the bearing groove to approach or be far away from the gear shaft 11. The gear box bracket 25 can realize that the gear box 1 moves along the axial direction of the gear shaft 11, and the guide bracket 26 for hanging the gear shaft 11 is fixedly connected with the frame body 22, thereby ensuring the structural strength of the gear box, and the upper end of the gear shaft 11 in a vertical state is hung through the guide bracket 26, while the lower end of the gear shaft 11 can be limited by the limiting bracket 24 or the limiting bracket 24 and the bearing bracket 23, thereby avoiding the swinging phenomenon of the gear shaft 11, ensuring the smooth assembly of the gear box 1, and the upper end of the hung gear shaft 11 is more stable and reliable than the lower end of the hung gear shaft 11.

In practical applications, in order to avoid the gear case 1 from being damaged due to the collision phenomenon of the gear shaft 11 and the guide bracket 26 when the gear shaft 11 is switched between the horizontal state and the vertical state, the gear shaft 11 is only supported by the gear case bracket 25 by actuating the load bearing bracket 23 and the guide bracket 26 to be away from the gear shaft 11 in the radial direction of the gear shaft 11 before the gear shaft 11 is switched from the horizontal state to the vertical state; the horizontal slider 254 is moved along the horizontal guide rail 253 by the horizontal driving structure, so that the gear case bracket 25 is moved in the axial direction of the gear shaft 11 in the horizontal state, and the guide bracket 26 abuts against the shoulder 111 of the gear shaft 11 in the axial direction of the gear shaft 11. Thereby ensuring the smoothness of switching of the gear shaft 11 between the horizontal state and the vertical state.

Alternatively, the horizontal driving structure includes a motor and a roller engaged with the horizontal guide rail 253, the motor is connected with the roller through a rotating shaft, and the motor drives the roller to travel along the horizontal guide rail 253 to enable the horizontal slider 254 to travel along the horizontal guide rail 253 in the axial direction of the gear shaft 11, so as to enable the shoulder 111 of the gear shaft 11 to abut against the guide bracket 26. Preferably, two rollers are interposed in the horizontal guide rail 253 in the radial direction of the gear shaft 11. In practical applications, the roller and the horizontal rail 253 may be in rolling friction or sliding friction, and the roller and the horizontal rail 253 may be in meshing connection or sliding connection.

Optionally, the frame body 22 is provided with a limiting block corresponding to the horizontal sliding block 254, so as to limit the sliding distance of the horizontal sliding block 254 on the horizontal guide rail 253 to the horizontal sliding block 254, and the horizontal sliding block 254 is provided with a manual adjusting mechanism for adjusting the horizontal sliding block 254 to slide along the horizontal guide rail 253; the arrangement of the limiting block avoids the phenomenon that the gear shaft 11 inclines due to uneven stress (one end of the gear shaft 11 is heavy and the other end of the gear shaft 11 is light) caused by the transitional displacement of the shaft section provided with the gear set towards the side far away from the guide bracket 26, so that the safety of an operation site is ensured. Specifically, the manual adjustment mechanism includes a rotating handwheel, which is connected to the roller via a rotating shaft, and the movement of the roller along the horizontal guide rail 253 can be achieved by manually rotating the rotating handwheel.

In another embodiment of the present invention, different from the above embodiments, the frame body 22 of the present embodiment is provided with a limiting block corresponding to the horizontal sliding block 254 to limit the sliding distance between the horizontal sliding block 254 and the horizontal guide rail 253; the position of the limiting block is adjustable, so that the sliding distance of the horizontal sliding block 254 on the horizontal guide rail 253 can be adjusted. The position of the limiting block is adjustable, and the limiting block can be adjusted according to the sizes of different gear boxes 1, so that the gear box assembly machine can meet the assembly requirements of the gear boxes 1 with different sizes, meet different assembly requirements, improve the idle rate of a machine table, increase the application range of the gear box assembly machine, and reduce the use cost of the gear box assembly machine.

Optionally, the manual work station 92 is further provided with a jacking device 8 corresponding to the gear box 1, the jacking device 8 is used for jacking the gear shaft 11, and the jacking device 8 is connected with the torque workstation 3; the torque workstation 3 acquires the jacking force value of the jacking gear shaft 11 of the jacking device 8 and transmits the jacking force value to the server. Of course, in another embodiment of the present invention, the jacking device 8 may be directly connected to the server to transmit the jacking force value, and the present invention also falls into the protection scope of the present invention.

In practical applications, the first telescopic structure 235, the second telescopic structure 252, the linear driving structure 263 and the jacking device 8 may be any linear driving mechanism such as a telescopic rod driving structure, a linear motor, a hydraulic driving structure or a screw pair structure. Optionally, the operations of the load-bearing frame rotating in the horizontal direction and rotating in the vertical direction can be realized by buttons arranged on the control cabinet 27, the control cabinet 27 integrates electromagnetic valves for controlling the actions of the multi-degree-of-freedom tipper 2, the buttons are integrated on a panel, and a special display screen is provided for displaying the working state of each component of the multi-degree-of-freedom tipper 2. Of course, the above-mentioned movements can also be programmed to be controlled in accordance with the production cycle. When the hydraulic driving structure is adopted, the hydraulic driving structure is correspondingly provided with the hydraulic pump station 28, and the hydraulic pump station 28 is arranged on the outer side of the multi-degree-of-freedom tilter 2 and protected and separated through a fence.

Optionally, each assembly cell 9 is provided with a safety guard 5, the safety guard 5 being provided between the manual station 92 and the robot station 91, so that the manual station 92 and the robot station 91 are independent of each other. In practical applications, the safety guard 5 may be a guard rail for being spaced between the manual station 92 and the robot station 91. In order to facilitate the access of the operator to the robot station 91 for maintenance of the robot 4, the protective fence is provided with a door structure. Preferably, the door structure can be a mechanical structure or a door structure provided with a grating sensor, when an operator crosses the protection fence from the manual station 92 and enters the robot station 91, the robot 4 can be automatically stopped, the robot can be prevented from harming the operator, and the absolute safety of the human-machine operation is ensured.

Optionally, the automatic sleeve replacing device 6 and the automatic robot verifying device 7 are further included; the robot 4 includes a robot body 41, and a vision recognition sensor 42, a power tightening shaft 43, and a tightening shaft controller mounted thereto; the electric tightening shaft 43 is connected with a tightening shaft controller, and the tightening shaft controller is connected with a server; the automatic sleeve exchanging device 6 is for exchanging a sleeve replaceably mounted on the power tightening shaft 43 and used for tightening a bolt; the automatic sleeve replacing device 6 is connected with the server; the robot automatic checking device 7 is used for automatic checking of the electric tightening shaft 43; the robot automatic checking device 7 is connected with the server.

In practical applications, the types of bolts used for connecting the upper case 132 and the lower case 131, the bolts used for connecting the gear case 13 and the large gear bearing seat 141, and the bolts used for connecting the gear case 13 and the small gear bearing seat 142 may not be the same, and when the robot 4 clamps the power tightening shaft 43 for applying bolts of different specifications and sizes, the sleeve at the end of the power tightening shaft 43 needs to be automatically replaced, and the automatic sleeve replacing device 6 is matched with the visual recognition sensor 42 installed at the end of the robot 4.

The vision recognition sensor 42 can also be used for realizing the functions of recognizing the pose and position of the gear box 1, the position of a connecting hole corresponding to a bolt, the position and vacancy of a target sleeve during robot verification and automatic sleeve replacement during robot operation and the like. The power tightening shaft 43 is fixed to the end of the robot 4 by a clamping mechanism, and the power tightening shaft 43 and the tightening shaft controller are used in cooperation, so that the power tightening shaft 43 can be used for acquiring tightening and tightening data of nuts and tightening curves at present and simulating bolt loosening operation during automatic verification.

The robot automatic checking device 7 is preferably composed of an independent device indicator light, a simulation bolt, a checking calibration sensor and the like, is matched with the visual recognition sensor 42 for use, can display the tightness state of the simulation bolt through the indicator light, avoids the re-tightening in the tightening state, prevents the damage to a wrench, and can automatically complete the start-up and completion checking of the electric tightening shaft 43 at the tail end of the robot 4. Meanwhile, the automatic robot calibration device 7 transmits calibration data obtained by each automatic calibration to the server, so that the server can compare the calibration data with torque data obtained by tightening the bolt by the robot 4 after the automatic calibration, when the torque data is greater than the calibration data, the nut is tightened in a transition mode, the bolt is calibrated and sent to the torque workstation 3 together with the bolt needing to be operated again subsequently, an operator is reminded to do reverse work or directly switch the gear box 1 to a manual station 92, the operator unscrews the bolt and pre-installs the bolt again, and the bolt is switched to the robot station 91 again so that the robot 4 can perform tightening operation again; when the torque data is smaller than the verification data, the nut is too loose, and the server can control the robot 4 to continue to tighten the nut. Thereby ensuring efficient and high-quality operation of the whole assembly process.

For example, as shown in fig. 1 to 4, the automatic robot checker 7 automatically sends the check data of the power tightening shaft 43 back to the server for qualification determination; the torque workstation 3 uploads the operation data to a server in a manual operation mode; the operator sends a command to the server through the torque workstation 3 and then to the robot 4 and the tightening shaft controller; the operating personnel operates the multi-degree-of-freedom tilter 2 to move, the multi-degree-of-freedom tilter 2 sends position signal information to the robot 4 and the robot track 44, and then the robot 4 moves to an operating position to execute a related program; the multi-degree-of-freedom tilter 2 sends the position signal to the server, the server sends the program segment to the tightening shaft controller, and then the electric tightening shaft 43 starts to work; after the electric tightening shaft 43 is tightened, the collected torque data (the torque value, the tightening angle, and the tightening curve information) are sent back to the tightening shaft controller, and the tightening shaft controller transmits the torque data back to the server for qualification determination.

Preferably, when one robot 4 corresponds to more than one multi-degree-of-freedom turnover machine 2 or at least two robots 4 correspond to more than one multi-degree-of-freedom turnover machine 2 to form a working area, all the manual stations 92 are preferably arranged on the same side, all the stations of the robots 4 are preferably arranged on the same side, in order to facilitate construction of the working area, all the robots 4 preferably share one robot track 44 and one robot cable 45, and the operation of each robot 4 is controlled by a server, so that the server reasonably arranges the corresponding robot 4 to go to the assembling unit 9 for screwing operation according to the precision coordination of the assembling unit 9, and assembly is efficiently and orderly completed. The robot cable 45 is of a tank chain structure, and the robot 4, the robot track 44, a power supply line, a network cable, a signal line and the like are all included, so that the cable is prevented from being physically dragged to cause damage, and meanwhile, the cleanliness and the safety of the whole operation area are guaranteed.

In practical application, the foundation of the multi-degree-of-freedom tilter 2 is underground, and the rotary table 211 is connected with a foundation slab through a fastening bolt and a check washer and is connected with a hydraulic pump station 28 through a hydraulic pipeline; the motion joints and the mechanical arms of the multi-degree-of-freedom tilter 2 are connected with the control cabinet 27 through electromagnetic valves and signal lines, and positioning sensors at the pose positions of the multi-degree-of-freedom tilter 2 are connected into the control cabinet 27 through signal lines; the robot track 44 is connected with the workshop ground through expansion bolts, and is connected with the robot 4 and the control cabinet 27 through signal wires and cables; the robot 4 is connected with the robot track 44 through a sliding seat and is connected with the robot control cabinet and the control cabinet 27 through a cable wire and a signal wire; the safety protection device 5 is connected with the robot control cabinet through a power line and a signal line.

The key technology related to the invention is as follows: the multi-degree-of-freedom tilter 2 and the robot linkage control technology, the gear shaft four-axis clamping and positioning technology and the multi-degree-of-freedom tilter 2 multi-degree-of-freedom linkage control technology.

(1) The multi-degree-of-freedom tilter and robot linkage control technology comprises the following steps:

the safety protection device 5 separates the manual station 92 from the robot station 91, so that the risk of collision injury to operators caused by the robot 4 is avoided; meanwhile, the gear box 1 is organically combined with the maintenance manual work and the robot work by means of the action of the multi-degree-of-freedom turnover machine 2, some complex and single work is operated by manpower, and some procedures with large quantity and high repeatability are completed by the robot 4, so that the utilization efficiency of the manpower and the robot 4 is optimized; by adopting a plurality of sets of sensors and positioning devices, the actions of the multi-freedom-degree tilter 2, the actions of the robot 4 and the robot track 44 are orderly carried out, the time intervals of different procedures are reasonably and fully utilized, the operation beats are scientifically distributed, the linkage control of the robot 4 and the multi-freedom-degree tilter 2 is realized, and the manual work and the robot 4 are organically combined to operate efficiently.

(2) Gear shaft presss from both sides tight positioning mechanism:

the multi-degree-of-freedom overturning machine is realized by multi-degree-of-freedom linkage of a multi-degree-of-freedom overturning machine 2; the module is developed aiming at realizing the horizontal and vertical standing postures of the gear shaft 11 in the processes of closing the upper box body 132 and the lower box body 131 of the single gear shaft 11 and adjusting the clearance of the large gear, and the supporting and positioning of the gear shaft 11 before the gear box body 13 is assembled and the positioning and action switching of the workpiece after the gear box body 13 is assembled are realized by integrating mature and stable mechanisms such as a hydraulic control technology, a link mechanism, an electro-hydraulic switching technology, a hydraulic maintaining technology, a shaft shoulder automatic clamping and separating technology and the like, so that the operation process is simplified, the overhaul efficiency is improved, and the assembly quality is ensured.

(3) The multi-degree-of-freedom linkage control technology of the multi-degree-of-freedom tilter comprises the following steps:

the process requirements and the operation postures of the gear shaft 11 in three processes of gear box combination, large gear clearance adjustment and pinion box entering are met, and a composite workpiece positioning, clamping and transposition technology is formed by designing three large overturning actions of 180-degree horizontal overturning and 90-degree vertical overturning, and integrating two sets of gear box 1 clamping and positioning modules. The technology is mainly characterized in that: firstly, three processes of the previous operation are integrated, and the operation efficiency is improved by reasonably configuring operation steps and beats; secondly, the technology can realize the organic combination of manual work and robot work, and through the automatic screwing system of the robot, compare with the operation mode before, only need to use an operation personnel in the shorter activity duration, just can accomplish the maintenance work of two sets of gear shafts 11, make the operating efficiency of gear box 1 maintenance double.

In another embodiment of the present invention, different from any of the above embodiments, the multi-degree-of-freedom tilter 2 may support the gear shaft 11 or the shoulder 111 of the gear shaft 11 at the lower end of the gear shaft 11 when the gear box 1 is in the vertical state, and the present invention shall also fall within the protection scope of the present invention. For example, in the above embodiment, when the bearing bracket 23 is provided with the first arc-shaped hoop 264 and the second arc-shaped hoop 265 which are connected in a buckling manner, the bearing bracket can support the shoulder 111 of the gear shaft 11, so as to support the gear shaft 11 from bottom to top, which is different from the gear shaft 11 hung on the guide bracket 26.

In another embodiment of the present invention, the present invention further provides an automated intelligent assembling method for a gearbox, which is suitable for the automated intelligent assembling system for a gearbox described in any one of the above, and the method comprises the following steps:

Preferably, the method further comprises the steps of: and (3) finishing the assembly of the gear box: the gear box is switched from a robot station to a manual station through a multi-degree-of-freedom turnover machine, and the gear box is switched from a vertical direction to a horizontal direction; and hoisting the gear box away by the multi-degree-of-freedom turnover machine. The entire gearbox is assembled. And repeating the steps to form continuous operation of assembling the gearbox.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An automatic intelligent assembling system for a gear box comprises a gear shaft, a gear assembly sleeved on the gear shaft and a gear box body buckled on the periphery of the gear assembly; the gear assembly comprises a gearwheel and a pinion, the gearwheel is sleeved on the gear shaft, and the pinion is meshed with the gearwheel; the gear box body comprises an upper box body and a lower box body which are matched with each other; the gearbox body is provided with a large gear bearing seat corresponding to the large gear, and the gearbox body is provided with a small gear bearing seat corresponding to the small gear; it is characterized by comprising:

2. The gearbox automated intelligent assembly system of claim 1, wherein:

3. The gearbox automated intelligent assembly system of claim 1, wherein:

the multi-degree-of-freedom overturning machine comprises a driving mechanism and a bearing frame for placing the gear box;

at least two bearing frames are horizontally and circumferentially arranged on the driving mechanism, and the driving mechanism is used for providing driving force for the bearing frames to rotate along the horizontal direction so as to realize the switching of the gear shafts placed on the bearing frames between the robot station and the manual station; the driving mechanism is used for providing a driving force for the bearing frame to rotate along the vertical direction, so that the gear shaft placed on the bearing frame can be switched between a horizontal state and a vertical state.

4. The gearbox automated intelligent assembly system of claim 3, wherein:

the bearing frame comprises a frame body, a bearing support, a limiting support, a gear box bracket and a guide bracket;

the bearing support is rotatably arranged on the frame body along the radial direction of the gear shaft so as to support the gear shaft in a horizontal state from bottom to top along the vertical direction;

the limiting bracket is rotatably arranged on the frame body along the radial direction of the gear shaft so as to limit the gear shaft in a vertical state;

the gear box bracket is rotatably arranged on the frame body along the radial direction of the gear shaft so as to support the lower box body from bottom to top along the vertical direction to realize the box combination of the lower box body and the upper box body;

the guide bracket is arranged on the frame body, and can move back and forth close to or far away from the gear shaft along the vertical direction so as to support the gear shaft in a horizontal state from bottom to top along the vertical direction or hang the gear shaft in a vertical state along the radial direction of the gear shaft.

5. The gearbox automated intelligent assembly system of claim 4, wherein:

the gear box bracket comprises a box body bracket, a second telescopic structure, a horizontal guide rail, a horizontal sliding block and a horizontal driving structure;

the ninth end of the box body bracket is rotatably arranged on the frame body, and the tenth end of the box body bracket is provided with a bearing groove for bearing the lower box body;

the horizontal guide rail is arranged on the frame body;

the horizontal sliding block is connected with the horizontal guide rail in a sliding manner; the horizontal driving structure is connected with the horizontal sliding block so as to realize the sliding of the horizontal sliding block on the horizontal guide rail along the axial direction of the gear shaft;

the tenth end of the second telescopic structure is connected with the frame body, the twelfth end of the second telescopic structure is connected with the tenth end of the box body bracket in a rotating mode, the second telescopic structure actuates the tenth end of the box body bracket to wind the ninth end of the box body bracket to rotate along the radial direction of the gear shaft, and therefore the bearing groove is close to or far away from the gear shaft.

6. The gearbox automated intelligent assembly system of claim 1, wherein:

the manual station is also provided with a jacking device corresponding to the gear box, the jacking device is used for jacking the gear shaft, and the jacking device is connected with the torque workstation; and the torque workstation acquires a jacking force value of the jacking device for jacking the gear shaft and transmits the jacking force value to the server.

7. The gearbox automated intelligent assembly system of claim 1, wherein:

the torque workstation comprises a wireless torque wrench and a wireless torque workstation, the wireless torque wrench is wirelessly connected with the wireless torque workstation, and the wireless torque workstation is connected with the server and used for transmitting the operation data to the server;

the wireless torque wrench is used for pre-tightening operation and tightening operation of bolts, collecting pre-tightening data corresponding to the pre-tightening operation and tightening data corresponding to the tightening operation, and transmitting the collected pre-tightening data and tightening data to the wireless torque workstation; the operation data comprises pre-tightening data and tightening data;

the wireless torque workstation is used for information management of working tools and working personnel and transmitting the obtained working data to the server.

8. Gearbox automated intelligent assembly system according to any of the claims 1-7, characterized in that:

the server acquires that each multi-degree-of-freedom turnover machine adjusts the position and the attitude of the gear box according to three assembling operations of gear box combination, large gear clearance adjustment and pinion box entering; distributing the robot corresponding to each multi-degree-of-freedom turnover machine to a corresponding position according to the pose so as to tighten a bolt corresponding to the pose; and/or the presence of a gas in the gas,

each assembly unit is provided with a safety protection device, and the safety protection device is arranged between the manual station and the robot station so that the manual station and the robot station are independent.

9. A gearbox automated intelligent assembly system as defined in any one of claims 1 to 7, further comprising:

the automatic sleeve replacing device and the automatic robot verifying device; the robot comprises a robot body, a visual identification sensor, an electric tightening shaft and a tightening shaft controller, wherein the visual identification sensor, the electric tightening shaft and the tightening shaft controller are installed on the robot body; the electric tightening shaft is connected with the tightening shaft controller, and the tightening shaft controller is connected with the server; the automatic sleeve replacing device is used for replacing a sleeve which is replaceably arranged on the electric tightening shaft and is used for tightening a bolt; the automatic sleeve replacing device is connected with the server; the robot automatic checking device is used for automatically checking the electric tightening shaft; and the robot automatic checking device is connected with the server.

10. A gearbox automated intelligent assembly method suitable for use in a gearbox automated intelligent assembly system according to any one of claims 1 to 9, comprising the steps of:

assembling the gear box: enabling the gear box to be in a horizontal state through the multi-degree-of-freedom turnover machine at the manual station, and enabling the lower box body and the lower box body to be combined through the screwing operation of the upper box body and the lower box body so as to complete the combination of the gear box, so that the lower box body and the upper box body form the gear box body; the torque workstation acquires tightening data of bolts used for connecting the upper box body and the lower box body in the tightening operation and transmits the tightening data to the server; the gear box body and the large gear bearing seat are pre-screwed to realize that the large gear bearing seat is pre-installed on the gear box body; the torque workstation acquires pre-tightening data of bolts used for connecting the large gear bearing seat and the gear box body in the pre-tightening operation and transmits the pre-tightening data to the server;