CN116833703A

CN116833703A - Automatic assembly system and assembly method of planetary reducer

Info

Publication number: CN116833703A
Application number: CN202310870305.7A
Authority: CN
Inventors: 孙腾; 孙武装; 王巧云; 杨占东; 孙晓宁
Original assignee: Qingdao Infinity Precision Machine Co ltd
Current assignee: Qingdao Infinity Precision Machine Co ltd
Priority date: 2023-07-14
Filing date: 2023-07-14
Publication date: 2023-10-03
Anticipated expiration: 2043-07-14
Also published as: CN116833703B

Abstract

The application discloses an automatic assembly system of a planetary reducer, which comprises a workbench and a mounting mechanism, wherein the workbench is used for positioning an inner gear ring, the mounting mechanism is used for grabbing a gear and is arranged in the inner gear ring, the workbench comprises a mounting table and a positioner, a positioning cavity is formed in the top of the positioner, and the inner gear ring is mounted in the positioning cavity; the mounting mechanism comprises a transfer mechanism and clamping jaws, the transfer mechanism drives the clamping jaws to move, visual detectors which are downwards arranged are arranged at the bottoms of the clamping jaws, and rotating mechanisms are arranged on the clamping jaws and used for rotating gears which are clamped. After the annular gear is placed on the positioner, the clamping jaw is utilized to drive each gear to move to the annular gear to place the gears in the annular gear, the visual detector can detect the annular gear and the installed gear angle in real time, the rotating mechanism is conveniently controlled to adjust the gear angle to be installed, and the installation efficiency is improved.

Description

Automatic assembly system and assembly method of planetary reducer

Technical Field

The application relates to the field of automatic production, in particular to an automatic assembly system and an assembly method of a planetary reducer.

Background

The planetary reducer has wide application in the fields of automatic production, mining transportation equipment, hoisting equipment and the like, and has the characteristics of large output torque, large speed ratio, high efficiency and safe performance.

Because the planetary reducer comprises the annular gear, the sun gear and a plurality of planet gears, the required precision of more gears and the annular gear in the assembly is higher, if the problem of extrusion caused by collision or overlarge stress of teeth occurs in the installation process, the problems of loud noise and heavy abrasion can be caused in the use process, so that manual installation is required under most conditions, the installation efficiency is low, and the labor cost is higher; if automatic production is performed, tooth positioning of gears in the production process needs to be extremely accurate, so that equipment complexity is excessive and equipment cost is high.

Therefore, there is a need for an automatic assembly scheme for a planetary reducer that can replace manual work to automatically assemble the reducer.

Disclosure of Invention

The application aims to provide a novel technical scheme of an automatic assembly system of a planetary reducer, which can replace manual installation of a sun wheel and a planet wheel, can avoid the problems of tooth collision and extrusion, and ensures the installation quality and the installation efficiency.

According to a first aspect of the present application, there is provided an automatic assembly system of a planetary reducer, comprising a workbench and a mounting mechanism, wherein the workbench is used for positioning an inner gear ring, the mounting mechanism is used for grabbing a gear and placing the gear in the inner gear ring, the workbench comprises a mounting table and a positioner, a positioning cavity is arranged at the top of the positioner, and the inner gear ring is mounted in the positioning cavity; the mounting mechanism comprises a transfer mechanism and clamping jaws, the transfer mechanism drives the clamping jaws to move, visual detectors which are downwards arranged are arranged at the bottoms of the clamping jaws, and rotating mechanisms are arranged on the clamping jaws and used for rotating gears which are clamped.

Through this scheme, place the ring gear on the locator after, utilize the clamping jaw to drive each gear and remove to ring gear department and place the gear in the ring gear, visual detector can real-time detection ring gear and the gear angle after the installation, conveniently control the rotary mechanism with the adjustment and wait to install the gear angle, avoid tooth collision or take place extruded problem because of the installation position error, guarantee the intact of gear, replace the manual work to carry out the installation of gear can reduce the cost of labor, and can improve installation effectiveness.

Preferably, the rotating mechanism comprises a clamping surface rotator and a sun gear rotator, wherein the clamping surface rotator is arranged on the clamping surface of the clamping jaw and is used for rotating the clamped planet gears; the sun gear rotator is arranged on one side of the clamping jaw and extends downwards and is used for rotating a sun gear in the annular gear.

According to the scheme, the clamping surface rotator can directly rotate the clamped gear, so that the angle can be adjusted at any time in the installation process, and the problem of collision caused by the angle change of the inner gear ring due to the vibration of equipment and other factors is avoided; the sun gear rotator can rotate the installed sun gear, so that the installation reliability is further improved, and collision with the sun gear is avoided.

Preferably, the clamping surface rotator comprises a rotating wheel and a first motor, wherein two rotating wheels are rotatably connected to each clamping surface, and the rotating wheels are vertically arranged; the first motor drives at least one rotating wheel to rotate; the first motor is a servo motor.

According to the scheme, after the sun wheel or the planet wheel is clamped by the clamping surface of the clamping jaw, in the descending installation process, the angle of the gear can be adjusted according to the installation angle shot by the visual detector; after the four rotating wheels are clamped to the outer peripheral surface of the gear, the first motor drives one rotating wheel to rotate, and the gear can be rotated.

Preferably, the sun gear rotator comprises a driving rod and a second motor, wherein the driving rod is rotatably connected to one side of the clamping jaw, is vertically arranged and extends downwards out of the clamping jaw; the second motor drives the driving rod to rotate, and the second motor is a servo motor.

Through this scheme, when clamping jaw moves down and installs the planet wheel, the actuating lever contacts the sun gear at first to drive the sun gear and rotate as required, continue to move down and release the planet wheel again after reaching suitable angle.

Preferably, the driving rod is made of nylon, and is of a conical structure with a thin bottom and a thick top.

Through this scheme, the structure of going up thick thin down can be applicable to the sun gear of multiple size specification and use to improve the application scope of this device.

Preferably, the transfer mechanism comprises a horizontal moving frame and a vertical moving frame, and the horizontal moving frame drives the vertical moving frame to horizontally move; the vertical moving frame drives the clamping jaw to move up and down, and the vertical moving frame is connected to the horizontal moving frame through a vertical moving cylinder.

Through this scheme, make the clamping jaw can remove to sun gear deposit department and planet wheel deposit department, realize automatic last unloading, further reduce artificial use.

Preferably, the positioner comprises a positioning seat and a rotating seat, wherein the rotating seat is rotationally connected to the positioning seat and is driven to rotate by a third motor, the positioning cavity is arranged on the rotating seat, and the third motor is a servo motor.

Through this scheme, the roating seat can drive the ring gear rotation to adjust the angle of ring gear, make the tooth stop in suitable position.

Preferably, a chute is arranged on the mounting table, the positioning seat is connected into the chute in a sliding manner, and the eccentric driving mechanism on the mounting table drives the positioning seat to move to an eccentric position along the chute.

According to the scheme, after the sun wheel is installed, the positioning seat can be moved to the installation position of the planet wheel, the clamping jaw does not need to move in the horizontal direction, and the problem of poor repeated positioning precision caused by frequent replacement of the clamping jaw is avoided; after the first planet wheel is installed, the rotary positioning seat can reach the installation position of the next planet wheel, so that the installation is quicker, and the automatic assembly beat is improved.

Preferably, a plurality of positioning tables are uniformly arranged around the positioning cavity, and the positioning tables are step-shaped.

Through this scheme, each step is fit for the ring gear of different size specifications and uses to improve the application scope of this device.

According to a second aspect of the present application, there is provided an assembling method using the above-described automatic assembling system for a planetary reducer, comprising the steps of:

step 1: mounting an inner gear ring on a positioner, and mounting a sun gear in the inner gear ring by a mounting mechanism;

step 2: the eccentric driving mechanism drives the positioner to transversely move the radius of the sun gear by the distance according to the radius of the sun gear;

step 3: the installation mechanism grabs the planet wheel to reach the position right above the installation position, and the tooth position of the inner gear ring and the tooth position of the sun wheel are shot by the visual detector;

step 4: the third motor drives the rotating seat to rotate, and the tooth positions of the inner gear ring are adjusted to a proper angle;

step 5: the clamping jaw descends to enable the sun gear rotator to be firstly contacted with the sun gear and drive the sun gear to rotate to a proper angle;

step 6: according to the tooth positions of the inner gear ring and the tooth positions of the sun gear, the clamping surface rotator drives the planet gears to rotate to a proper angle;

step 7: the clamping jaw continuously descends to enable teeth of the planet wheel to be meshed with teeth of the sun wheel and teeth of the inner gear ring, and the clamping jaw is loosened to enable the planet wheel to slide into the inner gear ring, so that the installation of the planet wheel is completed.

According to the automatic assembly system of the planetary reducer, the planetary reducer can be automatically assembled without or less manual intervention, so that labor cost can be greatly reduced, the automatic assembly efficiency can be improved, and the assembly quality can be improved.

Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a schematic diagram of a front view of an automatic assembly system for a planetary reducer according to the present application;

FIG. 2 is a schematic view of the structure at the jaw of FIG. 1;

FIG. 3 is a schematic top view of the clamping surface of the clamping jaw of FIG. 2;

FIG. 4 is a schematic view of the drive rod of the sun gear rotator of FIG. 2;

FIG. 5 is a schematic view of the position structure of the driving rod in FIG. 2;

FIG. 6 is a schematic diagram of a front view of the positioner of FIG. 1;

FIG. 7 is a schematic top view of the table of FIG. 1;

fig. 8 is a schematic view of the positioning table in fig. 7.

Detailed Description

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

As shown in fig. 1 to 8, the automatic assembly system of the planetary reducer in the present embodiment includes a table 10 and a mounting mechanism 20, the table 10 is used for positioning an inner gear ring 31, the mounting mechanism 20 is used for grabbing a gear and placing the gear in the inner gear ring 31, the table 10 includes a mounting table 11 and a positioner 12, a positioning cavity 1221 is provided at the top of the positioner 12, and the inner gear ring 31 is mounted in the positioning cavity 1221; the mounting mechanism 20 comprises a transfer mechanism and clamping jaws 23, the transfer mechanism drives the clamping jaws 23 to move, a visual detector 233 which is arranged downwards is arranged at the bottom of the clamping jaws 23, and a rotating mechanism is arranged on the clamping jaws 23 and used for rotating the clamped gears.

Through this embodiment, after the ring gear 31 is placed on the locator 12, utilize the clamping jaw 23 to drive each gear and remove ring gear 31 department and place the gear in ring gear 31, visual detector 233 can real-time detection ring gear 31 and the gear angle after the installation, conveniently control rotary mechanism in order to adjust the gear angle of waiting to install, avoid tooth collision or take place extruded problem because of the installation position error, guarantee the intact of gear, replace the manual work to carry out the installation of gear can reduce the cost of labor, and can improve installation effectiveness.

The embodiment further comprises a control device, such as a PLC control device, capable of receiving information from the visual detector 233 and signals from the respective sensors, and controlling the mounting table 11, the positioner 12, the clamping jaw 23, and the transfer mechanism, so as to implement an automated mounting process.

In an embodiment of the application, the rotating mechanism comprises a clamping surface rotator 241 and a sun gear 32 rotator 242, the clamping surface rotator 241 being arranged on the clamping surface of the clamping jaw 23 for rotating the clamped planet wheel 33; a sun gear 32 rotator 242 is provided at one side of the claw 23 and extends downward for rotating the sun gear 32 in the ring gear 31.

The clamping surface rotator 241 can directly rotate the clamped gear to adjust the angle at any time in the installation process, so that the problem of collision caused by the angle change of the inner gear ring 31 due to the factors such as equipment vibration and the like is avoided; the sun gear 32 rotator 242 can rotate the installed sun gear 32, so that the installation reliability is further improved, and collision with the sun gear 32 is avoided.

In an embodiment of the present application, the clamping surface rotator 241 includes a rotating wheel 2411 and a first motor 2412, and two rotating wheels 2411 are rotatably connected to each clamping surface, and the rotating wheels 2411 are vertically arranged; the first motor 2412 drives at least one rotation wheel 2411 to rotate; the first motor 2412 is a servo motor.

After the sun wheel 32 or the planet wheel 33 is clamped by the clamping surface of the clamping jaw 23, in the descending installation process, the angle of the gear can be adjusted according to the installation angle shot by the visual detector 233; after the four rotating wheels 2411 are clamped to the outer peripheral surface of the gear, the first motor 2412 drives one rotating wheel 2411 to rotate, so that the gear rotates.

The end part of the clamping jaw 23 is provided with a clamping block so as to improve the contact area between clamping surfaces, the installation of the rotary wheel 2411 is convenient, the rotary wheel 2411 is supported by nylon materials, has certain rigidity, and can avoid damage to gears in the clamping process; a plurality of tooth grooves are provided on the circumferential surface of the rotary wheel 2411 in the axial direction thereof, and the tooth grooves can be engaged with the gear or used for increasing friction with the gear, and can drive the gear to rotate.

In one embodiment of the present application, the sun gear 32 rotator 242 includes a driving rod 2422 and a second motor 2421, wherein the driving rod 2422 is rotatably connected to one side of the clamping jaw 23, and the driving rod 2422 is vertically arranged and downwardly extends out of the clamping jaw 23; the second motor 2421 drives the driving rod 2422 to rotate, and the second motor 2421 is a servo motor. As the jaw 23 moves down to mount the planet 33, the drive bar 2422 first contacts the sun gear 32 and drives the sun gear 32 to rotate as required until the proper angle is reached and then continues to move down and release the planet 33.

In one embodiment of the present application, the driving rod 2422 is made of nylon, and the driving rod 2422 has a conical structure with a thin bottom and a thick top. The structure with the thinner lower part and the thicker upper part can be suitable for the sun gear 32 with various sizes and specifications so as to improve the application range of the device.

The driving rod 2422 and the clamping jaw 23 can be in sliding connection, and when the clamping jaw 23 descends, the driving rod 2422 touching the sun gear 32 can move upwards for a certain distance, so that the driving rod 2422 is prevented from being damaged due to extrusion between the driving rod 2422 and the sun gear 32; a spring 2423 is provided at the bottom of the driving bar 2422 to reset the driving bar 2422 when the jaw 23 is lifted.

The circumferential surface of the driving rod 2422 is provided with a plurality of tooth grooves along the axial direction thereof, and the tooth grooves can be engaged with a gear or used for improving the friction force with the gear, and can drive the sun gear 32 to rotate.

In an embodiment of the present application, the transferring mechanism includes a horizontal moving frame 21 and a vertical moving frame 22, where the horizontal moving frame 21 drives the vertical moving frame 22 to move horizontally; the vertical movement frame 22 moves the gripping claws 23 up and down, and the vertical movement frame 22 is connected to the horizontal movement frame 21 through a vertical movement cylinder 221. The clamping jaw 23 can be moved to the storage position of the sun wheel 32 and the storage position of the planet wheel 33, automatic feeding and discharging are achieved, and manual use is further reduced.

The horizontal moving frame 21 is driven by a horizontal cylinder, so that two-point movement of the vertical moving frame 22 can be realized, and the clamping jaw 23 can be moved to a clamping position at the conveyor belt and an installation position at the workbench 10, so that only the precision of the two points is required to be maintained, and the complexity of equipment is greatly reduced; the vertical moving cylinder 221 can select different falling distances according to the current type of the planetary reducer, thereby avoiding the extrusion phenomenon on the gears. The first polish rod 222 is arranged on two sides of the vertical moving electric cylinder 221 in parallel, and the first polish rod 222 is connected with the horizontal moving frame 21 in a sliding manner, so that the vertical moving electric cylinder 221 is protected; the line or gas path on the clamping jaw 23 is connected with the horizontal moving frame 21 through a tank chain.

The clamping jaw 23 comprises two clamping arms 231, the clamping arms 231 are connected through a clamping cylinder 232, and the clamping cylinder 232 can drive the clamping arms 231 to realize clamping or loosening actions.

In an embodiment of the present application, the positioner 12 includes a positioning seat 121 and a rotating seat 122, the rotating seat 122 is rotatably connected to the positioning seat 121 and is driven to rotate by a third motor 123, and the positioning cavity 1221 is disposed on the rotating seat 122, and the third motor 123 is a servo motor. The rotating seat 122 can drive the inner gear ring 31 to rotate, so as to adjust the angle of the inner gear ring 31 and stop the teeth at the proper position.

In an embodiment of the present application, the mounting table 11 is provided with a sliding groove 111, and the positioning seat 121 is slidably connected to the sliding groove 111, and the eccentric driving mechanism on the mounting table 11 drives the positioning seat 121 to move to an eccentric position along the sliding groove 111.

After the sun gear 32 is installed, the positioning seat 121 can move to the installation position of the planet gear 33, the clamping jaw 23 does not need to move in the horizontal direction, and the problem of poor repeated positioning precision caused by frequent replacement of the clamping jaw 23 is avoided; after the first planet wheel 33 is installed, the rotary positioning seat 121 can reach the installation position of the next planet wheel 33, so that the installation is quicker, and the automatic assembly beat can be improved.

The eccentric driving mechanism comprises a fourth motor 13 and a screw rod 124, the screw rod 124 is in threaded connection with the positioning seat 121, the fourth motor 13 is a servo motor and is meshed with the screw rod 124 through a gear, and the fourth motor 13 can receive instructions to drive the screw rod 124 to rotate for a certain number of turns, so that the moving distance is the length of the radius of the sun gear 32.

And the second polish rod 125 is arranged parallel to the screw rod 124, and the second polish rod 125 is used for limiting the angle of the positioning seat 121 so as to ensure the moving precision of the positioning seat.

In an embodiment of the present application, a plurality of positioning stages 1222 are uniformly arranged around the positioning cavity 1221, and the positioning stages 1222 are stepped. Each step is suitable for the inner gear rings 31 with different sizes, so that the application range of the device is improved.

The assembling method adopting the automatic assembling system of the planetary reducer comprises the following steps:

step 1: mounting the annular gear on the positioner, and mounting the sun gear in the annular gear by the mounting mechanism;

in this step, the feeding operation is performed manually or by a robot, while the positioner is located at the initial position, i.e., the center thereof is located directly under the jaws.

in the step, the model of the planetary reducer to be assembled is input in advance, so that parameters such as diameter parameters of the sun gear, the annular gear and the planet gears, the number of teeth and the like are obtained, the radius of the sun gear can be obtained by the eccentric driving mechanism according to the parameters, and the eccentric driving mechanism drives the positioner to move according to the radius.

in this step, after the visual detector photographs the tooth positions of the ring gear and the sun gear, the tooth positions are compared with a pre-stored standard image to obtain the angles at which the ring gear and the sun gear respectively need to rotate.

in the step, the third motor is a servo motor, can be rotated for a certain angle according to the required rotation angle of the annular gear, and can be rotated for one or more circles to reach the required angle if the required rotation angle is too small.

in the step, as the sun gear rotator protrudes downwards to form the clamping jaw, the sun gear is contacted in advance in the descending process, and the sun gear is rotated by the driving rod in the sun gear rotator and the sun gear under the action of friction force so as to adjust the angle of teeth in the sun gear, so that the planet gear can conveniently descend directly to be meshed with the sun gear and the inner gear ring, and collision is avoided.

in the step, deflection can occur due to vibration in the downward moving process of the clamping jaw, or when rotation is needed for avoiding interference with other equipment and other reasons, the angle of the sun gear and the inner gear ring in the downward moving process is shot in real time by the visual detector, so that the angle of the planet gear can be adjusted in real time through the clamping surface rotator, and collision during installation under special conditions is avoided.

In this step, because the planet wheel is located in the clamping jaw completely, the bottom can not be exposed in order to insert in the tooth of ring gear and sun gear, therefore in the centre gripping in-process, only need the upper half of centre gripping planet wheel, need insert the tooth of planet wheel in the tooth of ring gear and sun gear when placing, release again can avoid collision problem completely.

It should be noted that the foregoing detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or groups thereof.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways, such as rotated 90 degrees or at other orientations, and the spatially relative descriptors used herein interpreted accordingly.

In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components unless context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The automatic assembly system of the planetary reducer comprises a workbench and a mounting mechanism, wherein the workbench is used for positioning an annular gear, and the mounting mechanism is used for grabbing a gear and placing the gear in the annular gear; the mounting mechanism comprises a transfer mechanism and clamping jaws, the transfer mechanism drives the clamping jaws to move, visual detectors which are downwards arranged are arranged at the bottoms of the clamping jaws, and rotating mechanisms are arranged on the clamping jaws and used for rotating gears which are clamped.

2. The automatic assembly system of a planetary reducer according to claim 1, wherein the rotating mechanism includes a clamping face rotator and a sun gear rotator, the clamping face rotator being disposed on the clamping face of the clamping jaw for rotating the clamped planetary gear; the sun gear rotator is arranged on one side of the clamping jaw and extends downwards and is used for rotating a sun gear in the annular gear.

3. The automatic assembly system of a planetary reducer according to claim 2, wherein the tightening surface rotator comprises a rotating wheel and a first motor, and two rotating wheels are rotatably connected to each clamping surface, and the rotating wheels are vertically arranged; the first motor drives at least one rotating wheel to rotate; the first motor is a servo motor.

4. The automatic assembly system of a planetary reducer according to claim 2, wherein the sun gear rotator includes a driving rod rotatably connected to one side of the jaw, and a second motor, the driving rod being vertically arranged and protruding downward from the jaw; the second motor drives the driving rod to rotate, and the second motor is a servo motor.

5. The automatic assembly system of a planetary reducer according to claim 4, wherein the driving rod is made of nylon, and the driving rod is of a conical structure with a thin bottom and a thick top.

6. The automatic assembly system of a planetary reducer according to claim 2, wherein the transfer mechanism comprises a horizontal moving frame and a vertical moving frame, and the horizontal moving frame drives the vertical moving frame to horizontally move; the vertical moving frame drives the clamping jaw to move up and down, and the vertical moving frame is connected to the horizontal moving frame through a vertical moving cylinder.

7. The automatic assembly system of a planetary reducer according to claim 1, wherein the positioner comprises a positioning seat and a rotating seat, the rotating seat is rotatably connected to the positioning seat and is driven to rotate by a third motor, the positioning cavity is arranged on the rotating seat, and the third motor is a servo motor.

8. The automatic assembly system of a planetary reducer according to claim 7, wherein a chute is provided on the mounting table, the positioning seat is slidably connected to the chute, and an eccentric driving mechanism on the mounting table drives the positioning seat to move to an eccentric position along the chute.

9. The automatic assembly system of a planetary reducer according to claim 7, wherein a plurality of positioning tables are uniformly arranged around the positioning cavity, and the positioning tables are step-shaped.

10. An assembling method using the automatic assembling system of a planetary reducer according to any one of claims 1 to 9, characterized by comprising the steps of: