CN115922328A - Automatic assembly quality of planetary system - Google Patents
Automatic assembly quality of planetary system Download PDFInfo
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- CN115922328A CN115922328A CN202211739783.6A CN202211739783A CN115922328A CN 115922328 A CN115922328 A CN 115922328A CN 202211739783 A CN202211739783 A CN 202211739783A CN 115922328 A CN115922328 A CN 115922328A
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- gear ring
- inner gear
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- planetary system
- electromagnetic chuck
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention provides an automatic assembling device for a planetary system, and belongs to the technical field of speed reducers. The invention comprises a base and an upright post arranged at the edge of the base, wherein a supporting plate sliding along the upright post and a servo motor controlling the supporting plate to move are arranged on the upright post, an angular rotating motor is arranged on the supporting plate, a connecting frame is arranged on an output shaft of the angular rotating motor, an electromagnetic chuck and a three-jaw gripper for adsorbing an inner gear ring are arranged on the connecting frame, a positioning pin for fixing a planetary system is arranged on the base right below the electromagnetic chuck, and the axis of the positioning pin and the center of the three-jaw gripper are on the same straight line. The invention can realize the automatic tooth alignment assembly function of the planetary system of the speed reducer, reduces the assembly difficulty, improves the assembly efficiency, and simultaneously improves the meshing quality and the service life of the planetary gear.
Description
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to an automatic assembling device for a planetary system.
Background
The planetary reducer is also known as a servo planetary reducer or a planetary gear reducer, is named after a planetary transmission structure, and mainly comprises a planetary wheel, a sun wheel, an inner gear ring and the like. Compared with other types of speed reducers, the planetary speed reducer has the characteristics of compact structure, small volume, high rigidity, large transmission torque, high transmission efficiency, small return back clearance, high transmission precision, low noise, long service life and the like, so that the planetary speed reducer is widely applied to the industries of numerical control machines, industrial robots, engineering machinery, printing and dyeing equipment, packaging machinery, environmental protection and the like.
The existing assembly process adopts manual assembly, a worker holds a planetary system by hand, the optimal tooth alignment position of a planetary wheel and an inner gear ring is searched by continuous forward and reverse rotation, and then the planetary system is pressed into the inner gear ring by using a press, so that the planetary wheel is completely meshed with the inner gear ring. However, the following problems still exist in the manual assembly process: the weight of the workpiece is large, the manual carrying strength is high, and potential safety hazards exist; the front and rear processes in the assembly process need to be turned over for multiple times, so that the working efficiency is low; the balance of the planetary system cannot be guaranteed in the assembling process, tooth surfaces are easily damaged by pulling in the press mounting process, and the service life of the speed reducer is influenced.
Disclosure of Invention
In view of the above-mentioned technical problems, the present invention provides an automatic assembling device capable of automatically assembling the gear of the planetary gear train of the speed reducer.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the utility model provides an automatic assembly quality of planetary system, include the base with set up in the stand at base edge, be provided with the edge on the stand gliding layer board and control are carried out to the stand the servo motor that the layer board removed, be provided with the angular rotation motor on the layer board, be provided with the link on the output shaft of angular rotation motor, be provided with the electromagnetic chuck and the three-jaw tongs that adsorb the ring gear on the link, be located be provided with the locating pin that is used for fixed planetary system on the base under the electromagnetic chuck, the axle center of locating pin with the center of three-jaw tongs is on a straight line.
Further, a tooling bottom plate is installed at the top of the positioning pin, and a positioning ring for fixing the planetary system is arranged on the tooling bottom plate.
Furthermore, a hole is formed in the center of the tool bottom plate, and the positioning pin is embedded into the hole to fix the tool bottom plate.
Furthermore, the electromagnetic chuck is normally open, and the hand grip and the positioning pin are quick-replaceable.
Further, a pressure sensor is arranged on the connection.
A method for assembling by using the automatic assembling device of the planetary system is characterized in that: the method comprises the following steps:
s1, fixing a planetary system on a tooling bottom plate, conveying the tooling bottom plate fixed with the planetary system to the upper side of a base through a conveying line, and fixing the tooling bottom plate on a positioning pin;
s2, grabbing and placing the inner gear ring below the electromagnetic chuck by using a manipulator, and connecting the upper surface of the inner gear ring with the electromagnetic chuck in an adsorption manner;
s3, outwards supporting the three-jaw gripper tightly, and adjusting the position of the inner gear ring to enable the center of the inner gear ring and the axis of the positioning pin to be on the same straight line;
s4, starting the servo motor and the angular rotation motor to enable the inner gear ring to simultaneously rotate and move downwards to perform tooth alignment action of the inner gear ring and the planetary system;
s5, the lower end face of the inner gear ring is lowered to the same height as the upper end face of the planetary gear, the inner gear ring and the planetary gear are moved downwards to a set distance after entering a meshing position, the pressure sensor at the top senses that the pressure is rapidly reduced, and the tooth action is finished;
s6, removing the magnetic force of the electromagnetic chuck, recovering the gripper, and driving the supporting plate to return to the original state upwards by the servo motor.
Compared with the prior art, the invention has the beneficial effects that:
the inner gear ring is fixed by the aid of the electromagnetic chuck, the inner gear ring is positioned by the aid of the three-jaw gripper, the planetary system is fixed by the aid of the positioning pins, the inner gear ring is controlled to move downwards by the aid of the servo motor and is controlled to rotate around by the aid of the angular motor, automatic tooth assembly functions of the planetary system of the speed reducer can be achieved, assembly difficulty is reduced, assembly efficiency is improved, and meshing quality and service life of the planetary gear are improved.
Drawings
FIG. 1 is a schematic diagram of an automated assembly apparatus according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view of a connection position of an annular gear and an electromagnetic chuck according to an embodiment of the invention;
FIG. 3 is a schematic view of the connection between the electromagnetic chuck and the three-jaw gripper and the connection frame according to the embodiment of the present invention;
FIG. 4 is a schematic view of a dowel retaining planetary system according to an embodiment of the present invention;
in the figure: the tool comprises a base 1, a stand column 2, a supporting plate 3, a servo motor 4, an angular rotating motor 5, a connecting frame 6, an inner gear ring 7, an electromagnetic chuck 8, a three-jaw gripper 9, a planetary system 10, a positioning pin 11, a tool bottom plate 12, a positioning ring 120 and a hole 121.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the invention provides an automatic assembly device for a planetary system, which comprises a base 1 and an upright post 2 arranged at the edge of the base 1, wherein a supporting plate 3 sliding along the upright post 2 and a servo motor 4 controlling the supporting plate 3 to move are arranged on the upright post 2, and the supporting plate 3 can move up and down on the upright post through the control of the servo motor 4; an angular rotation motor 5 is arranged on the supporting plate 3, a connecting frame 6 is arranged on an output shaft of the angular rotation motor 5, an electromagnetic chuck 8 for adsorbing an inner gear ring 7 and a three-jaw gripper 9 are arranged on the connecting frame 6, and the angular rotation motor 5 can control the electromagnetic chuck 8 and the three-jaw gripper 9 to rotate forward and backward by controlling the rotation of the connecting frame 6; when the electromagnetic chuck 8 adsorbs the inner gear ring 7, the upper end surface of the inner gear ring 7 is connected with the electromagnetic chuck 8, the inner gear ring 7 is fixed below the supporting plate 3 through the adsorption effect of the electromagnetic chuck 8 and can move downwards along with the supporting plate 3, and the inner gear ring 7 can also rotate along with the electromagnetic chuck 8; the base 1 which is positioned right below the electromagnetic chuck 8 is provided with a positioning pin 11 for fixing the planetary system 10, the planetary system 10 moves downwards with the upper part through the fixing of the positioning pin 11 and simultaneously rotates the inner gear ring 7 to perform tooth aligning action, the manual assembly process is simulated, and the automatic assembly of the planetary system is realized. The three-jaw gripper 9 can adjust the position of the inner gear ring 7 adsorbed on the electromagnetic chuck 8, so that the center of the inner gear ring 7 and the center of a planetary system 10 placed below the inner gear ring 7 are in the same straight line, the center of the three-jaw gripper 9 and the axis of a positioning pin 11 arranged on the base are in the same straight line, when the inner gear ring 7 is adsorbed on the electromagnetic chuck 8, the three-jaw gripper 9 is placed in the ring of the inner gear ring 7, the three-jaw gripper 9 can adjust the center of the inner gear ring 7 to be overlapped with the center of the three-jaw gripper 9 through expansion, so that the center of the inner gear ring 7 and the center of the planetary system 10 fixed on the positioning pin 11 are in the same straight line, the positioning is fast, and the next tooth aligning action is convenient to carry out.
In order to fix the planetary system 10 conveniently, a circular tooling bottom plate 12 is installed on the top of the positioning pin 11, a positioning ring 120 for fixing the planetary system 10 is arranged on the tooling bottom plate 12, and the inner diameter of the positioning ring 120 is the same as the outer diameter of the planetary system 10 to be fixed, so that the planetary system 10 can be directly embedded on the positioning ring 120. When the tooling bottom plate 12 is installed on the positioning pin 11, a hole 121 with the same diameter as the positioning pin 11 can be arranged at the central position of the tooling bottom plate 10, and the tooling bottom plate 12 is directly sleeved on the positioning pin 11 through the hole 121.
In order to prevent the safety accident caused by the falling of the inner gear ring due to the power failure of a workpiece or the failure of equipment, the electromagnetic chuck 8 is in a normally open type, namely, the electromagnetic chuck keeps suction force under the condition of no power supply, loses magnetic force under the condition of power supply, and prevents the electromagnetic chuck 8 from losing magnetism due to the power failure to cause the falling of the workpiece; meanwhile, in order to improve the applicability of the device and meet the requirements of speed reducers of different models on tooth assembly, the three-jaw gripper 9 and the positioning pin 11 are replaceable, and can be detached only by detaching a locking screw so as to realize quick type replacement, and the device can be determined according to the sizes and models of the inner gear ring and the planetary gear train.
In order to accurately judge whether the tooth aligning action of the planetary gear train 10 and the inner gear ring 7 is completed, the connecting frame 6 is also provided with a pressure sensor, the pressure sensor can monitor the pressure change when the inner gear ring 7 is in contact with the planetary gear train 10, and when the pressure sensor detects that the pressure is rapidly reduced, the tooth aligning action of the inner gear ring 7 and the planetary gear train 10 is completed.
The invention also provides a method for assembling by using the automatic assembling device of the planetary system, which comprises the following steps:
s1, fixing a planetary system 10 on a tooling bottom plate 12, conveying the tooling bottom plate 12 fixed with the planetary system 10 to the upper part of a base 1 through a conveying line, and fixing the tooling bottom plate on a positioning pin 11;
s2, grabbing the inner gear ring 7 by using a manipulator and placing the inner gear ring under the electromagnetic chuck 8, and enabling the upper surface of the inner gear ring 7 to be in adsorption connection with the electromagnetic chuck 8;
s3, tightly supporting a three-jaw gripper 9 outwards, and adjusting the position of the inner gear ring 7 to enable the center of the inner gear ring 7 and the axis of the positioning pin 11 to be positioned on the same straight line;
s4, starting the servo motor 4 and the angular rotation motor 5 to enable the inner gear ring 7 to simultaneously rotate and move downwards to perform tooth alignment action of the inner gear ring 7 and the planetary system 10;
s5, the lower end face of the inner gear ring 7 is lowered to the same height as the upper end face of the gear of the planetary system 10, after the inner gear ring and the gear enter a meshing position, the inner gear ring and the gear move downwards to a set distance, and a pressure sensor arranged on a connecting frame senses that the pressure is rapidly reduced, so that the tooth action is completed;
s6, the electromagnetic chuck 8 is electrified and demagnetized, the three-jaw gripper 9 is recovered, and the servo motor 4 drives the supporting plate 3 to return upwards.
The operation and the assembly process of the automatic assembly device for the planetary system provided by the invention are operated by an automatic control system, the automatic control system can set tooth parameters, display signals in the assembly process and prompt error alarm, and the automatic assembly device is in signal transmission with an electric control cabinet, a transmission line and a manipulator to realize interconnection and intercommunication among all working procedures.
The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and these embodiments are still within the scope of the invention.
Claims (6)
1. An automatic assembly device of planetary system which characterized in that: including base (1) with set up in stand (2) at base (1) edge, be provided with the edge on stand (2) gliding layer board (3) and control are carried out in stand (2) servo motor (4) that layer board (3) removed, be provided with angular rotating electrical machines (5) on layer board (3), be provided with link (6) on the output shaft of angular rotating electrical machines (5), be provided with electromagnetic chuck (8) and three-jaw tongs (9) of adsorbing ring gear (7) on link (6), be located be provided with locating pin (11) that are used for fixed planetary system (10) on base (1) under electromagnetic chuck (8), the axle center of locating pin (11) with the center of three-jaw tongs (9) is on a straight line.
2. The automated planetary gear train assembly apparatus of claim 1, wherein: the tooling bottom plate (12) is installed at the top of the positioning pin (11), and a positioning ring (120) used for fixing the planetary system (10) is arranged on the tooling bottom plate (12).
3. The automated planetary gear train assembly apparatus of claim 2, wherein: the center of the tooling bottom plate (12) is provided with a hole (121), and the positioning pin (11) is embedded into the hole (121) to fix the tooling bottom plate (12).
4. The automated planetary gear train assembly apparatus of claim 1, wherein: the electromagnetic chuck (8) is normally open, and the three-jaw gripper (9) and the positioning pin (11) are quick-replaceable.
5. The automated planetary gear train assembly apparatus of claim 1, wherein: and a pressure sensor is arranged on the connecting frame (6).
6. A method of assembly using the automated assembly apparatus of any one of claims 1 to 5, wherein: the method comprises the following steps:
s1, fixing a planetary system (10) on a tooling bottom plate (12), conveying the tooling bottom plate (12) fixed with the planetary system (10) to the upper part of a base (1) through a conveying line, and fixing the tooling bottom plate (12) on a positioning pin (11);
s2, grabbing the inner gear ring (7) by using a manipulator and placing the inner gear ring below the electromagnetic chuck (8), and connecting the upper surface of the inner gear ring (7) with the electromagnetic chuck (8) in an adsorption manner;
s3, tightly supporting the three-jaw gripper (9) outwards, and adjusting the position of the inner gear ring (7) to enable the center of the inner gear ring (7) and the axis of the positioning pin (11) to be on the same straight line;
s4, starting the servo motor (4) and the angular rotation motor (5), enabling the inner gear ring (7) to simultaneously rotate and move downwards, and performing gear alignment action on the inner gear ring (7) and the planetary system (10);
s5, the lower end face of the inner gear ring (7) is lowered to the same height as the upper end face of the gear of the planetary system (10), the inner gear ring and the gear are moved downwards to a set distance after entering a meshing position, the pressure sensor at the top senses that the pressure is rapidly reduced, and the action on the gear is finished;
s6, the magnetic force of the electromagnetic chuck (8) is removed, the three-jaw gripper (9) is recovered, and the servo motor (4) drives the supporting plate (3) to return upwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211739783.6A CN115922328A (en) | 2022-12-30 | 2022-12-30 | Automatic assembly quality of planetary system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211739783.6A CN115922328A (en) | 2022-12-30 | 2022-12-30 | Automatic assembly quality of planetary system |
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| Publication Number | Publication Date |
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| CN115922328A true CN115922328A (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211739783.6A Pending CN115922328A (en) | 2022-12-30 | 2022-12-30 | Automatic assembly quality of planetary system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001448A (en) * | 2023-10-07 | 2023-11-07 | 通威微电子有限公司 | Grinding device and control method thereof |
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2022
- 2022-12-30 CN CN202211739783.6A patent/CN115922328A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001448A (en) * | 2023-10-07 | 2023-11-07 | 通威微电子有限公司 | Grinding device and control method thereof |
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