CN117549072A

CN117549072A - Automatic assembly device and automatic assembly system for miniature gears

Info

Publication number: CN117549072A
Application number: CN202410035889.0A
Authority: CN
Inventors: 洪志辉; 乔永苹
Original assignee: Dongguan Huanli Intelligent Technology Co ltd
Current assignee: Dongguan Huanli Intelligent Technology Co ltd
Priority date: 2024-01-10
Filing date: 2024-01-10
Publication date: 2024-02-13
Anticipated expiration: 2044-01-10
Also published as: CN117549072B

Abstract

The application relates to folding screen pivot hinge gear assembly technical field, it discloses a miniature gear automatic assembly device, include: the device comprises a transmission device, a transfer structure, a first assembly module and a second assembly module; the transfer structure is provided with an assembly jig for loading the gear seat; the assembly jig comprises a first limiting structure for limiting the rotation of the first gear; the first assembly module comprises a first assembly device for assembling a first gear on a gear seat carried by a conventional assembly jig; the second assembly module comprises a second assembly device for assembling a second gear on a gear seat carried by the conventional assembly jig; the second assembling device comprises a moving mechanism and a deflectable grabbing mechanism for assembling the second gear; when the teeth of the second gear are in contact with the teeth of the first gear, the first gear forces the second gear and the deflectable gripping mechanism to deflect so that the first gear meshes with the second gear; the assembly mode does not need a visual camera to assist in positioning, and can effectively reduce the assembly cost.

Description

Automatic assembly device and automatic assembly system for miniature gears

Technical Field

The application relates to the technical field of assembling of hinge gears of rotating shafts of folding screens, in particular to an automatic assembling device and method of a miniature gear.

Background

The mobile phone hinge refers to a part for connecting the upper cover and the lower cover of the mobile phone, and is generally composed of two hinges and a connector, and is one of key parts for determining the effect and the cost of a folding screen mobile phone product, and the problems of the screen such as the depth of folds, the light and thin degree and the like which are most relevant to the experience of consumers are related.

In the prior art, a hinge of a folding mobile phone generally adopts a plurality of gears to realize linkage. In the process of assembling the mobile phone hinge, the manual assembly difficulty is high due to the small size of the gear, and the assembly efficiency is low. For this reason, some manufacturers adopt a vision camera to assist in positioning and a manipulator to automatically assemble gears, however, the use of the vision camera to assist in positioning can solve the problems of assembly accuracy and assembly efficiency, but the use cost is high.

Disclosure of Invention

The invention aims to provide an assembly technology which is independent of a vision camera to assist positioning and effectively reduces assembly cost on the premise of ensuring equipment precision and assembly efficiency, and aims to avoid the defects in the prior art.

The aim of the invention is achieved by the following technical scheme:

an automatic assembly device for a micro gear, comprising: the device comprises a transmission device, a transfer structure, a first assembly module and a second assembly module; the transfer structure is arranged on the transmission device, and the transfer structure is moved to and away from the first assembly module and the second assembly module by the transmission device; the transfer structure is provided with an assembly jig for loading the gear seat; the assembly jig comprises a first limiting structure for limiting the rotation of the first gear; the first assembly module comprises a first assembly device for assembling a first gear on a gear seat carried by a conventional assembly jig; the second assembly module comprises a second assembly device for assembling a second gear on a gear seat carried by the conventional assembly jig;

Wherein the second assembling device comprises a moving mechanism and a deflectable grabbing mechanism for assembling the second gear; the deflectable grabbing mechanism is arranged on the moving mechanism, and the deflectable grabbing mechanism is driven to move in an X-Y plane and move along a Z axis by virtue of the moving mechanism, so that the deflectable grabbing mechanism drives the second gear to move towards the first gear in the X-Y plane and be meshed with the first gear, and the second gear is driven to be downwards assembled on the gear seat along the Z axis direction; when the teeth of the second gear are in contact with the teeth of the first gear, the first gear forces the second gear and the deflectable gripping mechanism to deflect to engage the first gear with the second gear.

In one embodiment, the deflectable capture mechanism comprises: a first connection plate, a first mounting plate, and a first clamping assembly; the first connecting plate is arranged on the moving mechanism; the first connecting plate is provided with a sliding rail which is longitudinally arranged, the sliding rail is provided with a sliding block capable of swinging, and the first mounting plate is arranged on the sliding block; the top of the first mounting plate is provided with a first spring, and the first spring is abutted with the bottom of the moving mechanism; the first clamping component is fixedly connected to the first mounting plate.

In one embodiment, the slide rail is provided with a guide convex strip; the sliding block is provided with a guide groove; the guide convex strip is in clearance fit with the guide groove so as to form a swinging gap between the guide groove and the guide convex strip, and the size of the swinging gap is 0.08mm to 0.1mm.

In one embodiment, the movement mechanism includes a first translation assembly, a second translation assembly, and a hold down assembly; the second translation assembly is arranged on the first translation assembly, and the first translation assembly drives the second translation assembly to reciprocate along the Y-axis direction; the pressing component is arranged on the second translation component, and is driven by the second translation component to reciprocate along the X-axis direction;

the pressing component comprises a connecting bracket, a second mounting plate, a pressing motor, a third screw rod seat and a third sliding block; the connecting bracket is arranged on the second translation assembly; the top of the second mounting plate is fixedly connected to the bottom of the connecting bracket; the lower piezoelectric motor is fixedly connected to one side of the second mounting plate, and the third screw rod seat is arranged on the other side of the second mounting plate; the third screw rod penetrates through the third screw rod seat along the Z-axis direction and is rotatably connected with the third screw rod seat, the upper end of the third screw rod is in transmission connection with an output shaft of the lower motor through a belt, and the lower end of the third screw rod is in threaded connection with the third sliding block;

the second mounting plate is provided with a slide rail seat extending along the Z axis, and the third sliding block is in sliding connection with the slide rail seat; the first connecting plate is fixedly connected to the bottom of the third sliding block; when the pressing motor drives the third screw rod to rotate, the third screw rod drives the third sliding block to move up and down along the Z axis.

In one embodiment, the first assembly module further comprises a first feeding disc, wherein the first feeding disc is provided with a limiting jack for inserting the rotating shaft of the first gear and limiting the rotation of the rotating shaft of the first gear; the first limiting structure comprises a non-circular first limiting hole which is formed in the top surface of the assembly jig and used for inserting a rotating shaft of the first gear; the internal shape of the first limiting hole is the same as the internal shape of the limiting jack.

In one embodiment: the assembly jig bottom is equipped with the chamber that holds, holds the bottom of chamber intercommunication first spacing hole, holds the chamber and is equipped with the elastic component, and when first gear assembly was at the gear seat, the pivot bottom butt elastic component of first gear.

In an embodiment, the transfer mechanism further includes a third assembly module, the third assembly module has the same structure as the second assembly module, and when the transfer mechanism is driven to move to the third assembly module by the transmission device, the third assembly module assembles a third gear to the gear seat, so that the third gear is meshed with the second gear.

In an embodiment, the transfer mechanism further includes a fourth assembly module, the fourth assembly module has the same structure as the first assembly module, and when the transfer mechanism is driven to move to the fourth assembly module by the transmission device, the fourth assembly module assembles a fourth gear to the gear seat, so that the fourth gear is meshed with the third gear.

In an embodiment, the assembly fixture further comprises a gear cover assembly module for assembling a gear cover on the gear seat carried by the conventional assembly fixture; the gear cover assembly module includes a third movement assembly, a shaping cover, and a third grasping mechanism. The shaping cover and the third grabbing mechanism are arranged at the bottom of the third moving assembly, and the shaping cover and the third grabbing mechanism can synchronously linearly move in the X, Y, Z axial direction under the driving of the third moving assembly;

the shaping cover comprises a mounting seat, a linear spring, a guide post and a pressure head; the mounting seat is fixedly connected to the bottom of the third moving assembly, the bottom surface of the mounting seat is provided with a splicing groove, and the pressure head is arranged in the splicing groove in a vertically movable manner; the guide column is arranged in the inserting groove and penetrates through the pressure head to guide the moving process of the pressure head; the linear spring is sleeved on the guide post and is positioned between the pressure head and the inner end wall of the inserting groove;

the bottom surface of pressure head includes the plastic groove, and the plastic inslot includes first adjustment portion, second adjustment portion, third adjustment portion and the fourth adjustment portion with the upper portion shape matching of first gear, second gear, third gear and fourth gear respectively.

An automated assembly system, comprising: a controller and the automatic assembly device for the micro gear; the controller is used for controlling the automatic assembly device of the micro gear to execute the following steps:

S1, loading a gear seat on an assembly jig, assembling a first gear on the gear seat from top to bottom, enabling a rotating shaft of the first gear to be matched with the assembly jig, and limiting the rotation of the first gear by the assembly jig;

s2, moving the second gear to the first gear in the X-Y plane, enabling teeth of the second gear to be in contact with teeth of the first gear, enabling the first gear to force the second gear to adaptively deflect so as to enable the second gear to be meshed with the first gear, then pressing down the second gear, and assembling the second gear on a gear seat;

s3, moving the third gear to the second gear in the X-Y plane, enabling the teeth of the third gear to be in contact with the teeth of the second gear, enabling the second gear to force the third gear to adaptively deflect so as to enable the third gear to be meshed with the second gear, then pressing down the third gear, and assembling the third gear on a gear seat;

s4, assembling the fourth gear on the gear seat from top to bottom, enabling a rotating shaft of the fourth gear to be matched with an assembling jig, limiting the fourth gear to rotate by the assembling jig, and enabling the fourth gear to be meshed with the third gear;

and S5, simultaneously pressing the first gear, the second gear, the third gear and the fourth gear from top to bottom by adopting a shaping cover so as to adjust the relative positions of the first gear, the second gear, the third gear and the fourth gear and enable the first gear, the second gear, the third gear and the fourth gear to be assembled in place.

The invention has the beneficial effects that: an automatic assembly device for a micro gear, comprising: the device comprises a transmission device, a transfer structure, a first assembly module and a second assembly module; the transfer structure is provided with an assembly jig for loading the gear seat; the assembly jig comprises a first limiting structure for limiting the rotation of the first gear; the first assembly module comprises a first assembly device for assembling a first gear on a gear seat carried by a conventional assembly jig; the second assembly module comprises a second assembly device for assembling a second gear on a gear seat carried by the conventional assembly jig; the second assembling device comprises a moving mechanism and a deflectable grabbing mechanism for assembling the second gear; when the teeth of the second gear are in contact with the teeth of the first gear, the first gear forces the second gear and the deflectable gripping mechanism to deflect so that the first gear meshes with the second gear; the assembly mode does not need a visual camera to assist in positioning, and can effectively reduce the assembly cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of an automatic assembly device for a micro gear according to an embodiment of the present application;

fig. 2 is a schematic perspective view of a first assembling device according to an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a deflectable grasping mechanism according to an embodiment of the present application;

fig. 4 is a schematic diagram of a combined structure of a transfer structure, an assembly jig, and a gear seat according to an embodiment of the present application;

FIG. 5 is a schematic view of a combined structure of an assembly jig and a gear seat according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a combined structure of an assembly jig, a gear seat and gears according to an embodiment of the present application;

FIG. 7 is a schematic view of a combination of a first feed tray and a first gear according to an embodiment of the present application;

fig. 8 is a schematic cross-sectional view of a transfer structure, an assembly jig, and a gear seat according to an embodiment of the present disclosure;

fig. 9 is a schematic diagram of a combined structure of a transfer structure, an assembly jig, and a gear seat according to an embodiment of the present application;

FIG. 10 is a schematic view of a combined structure of a third gripping mechanism and a shaping cap of an embodiment of the present application;

FIG. 11 is a schematic view of the combined structure of the shaping cover of the embodiment of the present application;

FIG. 12 is a schematic perspective view of a shaping cover according to an embodiment of the present application;

fig. 13 is a schematic structural view of a transmission device according to an embodiment of the present application;

Fig. 14 is an assembly flow diagram of an embodiment of the present application.

The drawings are marked:

10. a machine table; 11. a transmission device; 111. a turntable seat; 112. a main turntable; 1121. a main rotating shaft; 113. a conveyor chain; 114. an auxiliary turntable; 1141. an auxiliary rotating shaft; 115. a positioning mechanism; 1151. positioning a rotating shaft; 1152. a second connecting plate; 1153. positioning a cylinder; 1154. a positioning plate; 1155. positioning the bulge;

12. a transfer structure; 121. a base; 122. a cushion block; 123. positioning clamping grooves; 13. assembling a jig; 131. a loading groove; 132. a first limit structure; 133. a second limit structure; 14. a moving block; 141. a second spring;

20. a gear seat assembly module; 21. a second moving assembly; 22. a second grasping mechanism;

30. a first assembly module; 31. a first moving assembly; 32. a first grasping mechanism; 33. a first feed tray; 331. limiting jack;

40. a second assembly module; 41. a moving mechanism; 411. a first translation assembly; 4111. a first screw rod; 4112. a first motor; 412. a second translation assembly; 4121. a second screw rod seat; 4122. a moving rack; 4123. a second motor; 413. pressing down the assembly; 4131. a connecting bracket; 4132. a second mounting plate; 4133. pressing down the motor; 4134. a third screw rod; 4135. a third screw rod seat; 4136. a third slider; 42. a deflectable gripping mechanism; 421. a first clamping assembly; 422. a first mounting plate; 423. a first slider; 424. a first connection plate; 425. a slide rail; 426. a first spring;

50. A third assembly module;

60. a fourth assembly module;

70. a gear cover assembly module; 71. a third moving assembly; 72. a third grasping mechanism; 73. shaping cover; 731. a pressure head; 732. a mounting base; 733. a shaping groove; 7331. a first adjustment section; 7332. a second adjustment section; 7333. a third adjustment section; 7334. a fourth adjustment unit; 734. a guide post;

100. a gear seat; 101. a first gear; 102. a second gear; 103. a third gear; 104. and a fourth gear.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described by implementation with reference to the accompanying drawings in the examples of the present application, and it is apparent that the described examples are some, but not all, examples of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The embodiment provides an automatic assembling device for a micro gear, which is applied to assembling common folding screen hinges and has universality. The folding screen hinge is applied to folding screen electronic equipment, such as folding screen mobile phones, folding screen flat plates, folding display screens and the like. Referring to fig. 6, a conventional folding screen hinge generally includes a gear seat 100, a first gear 101, a second gear 102, a third gear 103, and a fourth gear 104. The gear seat 100 is provided with an assembly hole into which the rotation shafts of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are inserted. The first gear 101 is meshed with the second gear 102, the second gear 102 is meshed with the third gear 103, and the third gear 103 is meshed with the fourth gear 104, so that the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are linked. In other embodiments, the number of gears of the folding screen hinge may be increased or decreased according to actual needs, but it is ensured that the number of gears is at least two.

In this embodiment, the first gear 101 and the fourth gear 104 are long-axis gears, the second gear 102 and the third gear 103 are short-axis gears, and the rotation axis length of the short-axis gears is smaller than that of the long-axis gears. Of course, in other embodiments, the lengths of the rotation axes of the first gear 101, the second gear 102, the third gear 103, and the fourth gear 104 may be the same.

In this embodiment, the rotation axes of the first gear 101 and the fourth gear 104 are used to connect with other components of the folding screen hinge, such as the damper mechanism and the wing. The two wing plates are fixedly connected to the rotating shaft of the first gear 101 and the rotating shaft of the fourth gear 104 respectively, and the folding screen electronic device (for example, a folding screen mobile phone) generally comprises two folding main bodies, wherein the two folding main bodies are fixedly connected to the wing plates, when the two folding main bodies turn over, the two wing plates are driven to turn over, and the two wing plates drive the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 to synchronously rotate. The damping mechanism is connected with the rotating shafts of the first gear 101 and the fourth gear 104 and is used for providing damping force so that the two folding main bodies have damping sense when being overturned.

At present, the hinge gear of the folding screen has extremely small size and higher assembly requirement precision. The assembly precision of the traditional gear assembly method is difficult to meet the assembly requirement of the hinge gear of the folding screen. The visual detection system is used for positioning, and the requirement of the assembly precision of the hinge gear of the folding screen can be met by combining a mechanical arm or automatic assembly equipment, but the high-precision visual detection system has higher price.

The automatic assembling device for micro gears of the present embodiment is configured to sequentially assemble the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 on the gear holder 100, and to engage the first gear 101 with the second gear 102, the second gear 102 with the third gear 103, and the third gear 103 with the fourth gear 104, so that the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are linked. The automatic assembly device for the micro gear of the embodiment can realize high-precision assembly of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 without adopting a vision detection system for auxiliary positioning, and the technical scheme is as follows:

referring to fig. 1-6, in the present embodiment, the automatic assembly device for micro gears includes a machine 10, a transmission device 11, a transfer structure 12, a first assembly module 30 and a second assembly module 40. The transmission device 11, the first assembly module 30 and the second assembly module 40 are disposed on the top surface of the machine 10. The first assembly module 30 and the second assembly module 40 are disposed in sequence along the conveying direction of the conveying device 11. The transfer structure 12 is disposed on the conveying device 11, and the transfer structure 12 is moved toward and away from the first assembly module 30 and the second assembly module 40 by the conveying device 11. The transfer structure 12 is provided with an assembling jig 13 for loading the gear seat 100. The assembly fixture 13 includes a first limiting structure 132 for limiting the rotation of the first gear 101. The first assembling module 30 includes a first assembling device for assembling the first gear 101 on the gear seat 100 carried by the conventional assembling jig 13, and after the first gear 101 is assembled on the gear seat 100, the rotation of the rotating shaft of the first gear 101 is limited by the first limiting structure 132 on the assembling jig 13, so as to limit the rotation of the first gear 101.

The second assembling module 40 includes a second feeding tray for providing the second gear 102, and a second assembling device for assembling the second gear 102 on the gear seat 100 carried by the conventional assembling jig 13. The second assembling means includes a moving mechanism 41 and a deflectable grasping mechanism 42 to assemble the second gear 102. The deflectable grabbing mechanism 42 is arranged on the moving mechanism 41, and the deflectable grabbing mechanism 42 is driven by the moving mechanism 41 to move in an X-Y plane and move along a Z axis, so that the deflectable grabbing mechanism 42 drives the second gear 102 to move towards the first gear 101 in the X-Y plane and be meshed with the first gear 101, and drives the second gear 102 to be assembled on the gear seat 100 downwards along the Z axis direction; when the teeth of the second gear 102 are in contact with the teeth of the first gear 101, the first gear 101 forces the second gear 102 and the deflectable gripper mechanism 42 to deflect to engage the first gear 101 with the second gear 102.

Because the first gear 101 cannot rotate, when the second gear 102 moves in the X-Y plane toward the first gear 101 and contacts the teeth of the first gear 101, the second gear 102 is forced to rotate as the deflectable grabbing mechanism 42 drives the second gear 102 to continue to move linearly, so that the second gear 102 and the first gear 101 rotate relatively, and finally the teeth of the second gear 102 and the first gear 101 mesh. During the foregoing process, deflectable capture mechanism 42 is adaptively deflected to engage second gear 102 for rotation. When the deflectable grabbing mechanism 42 moves to the position above the assembly hole of the second gear 102, the deflectable grabbing mechanism 42 moves downwards to press the rotating shaft of the second gear 102 into the corresponding assembly hole of the gear seat 100, so as to finish the pre-assembly of the second gear 102.

Compared with the prior art, the embodiment does not need to adopt a visual detection system to assist in positioning, and the deflectable grabbing mechanism 42 is driven to move along the preset track only by the moving mechanism 41, so that the deflectable grabbing mechanism 42 drives the second gear 102 to move along the preset track in the X-Y plane and in the Z-axis direction, and the second gear 102 can be assembled on the gear seat 100, so that the technical scheme of the embodiment has lower manufacturing cost. In addition, the deflectable grabbing mechanism 42 of the present embodiment can deflect, so that the second gear 102 can adaptively rotate when contacting with the teeth of the first gear 101, thereby avoiding rigid contact between the second gear 102 and the first gear 101, avoiding damaging the structural shapes of the first gear 101 and the second gear 102, and meshing the second gear 102 and the first gear 101 together, and completing the assembly process.

Next, the structural scheme of the deflectable gripping mechanism 42 of the present embodiment will be further described:

referring to fig. 2, in the present embodiment, the deflectable grabbing mechanism 42 includes a first connection plate 424, a first mounting plate 422, and a first grabbing assembly 421. The first connecting plate 424 is mounted on the moving mechanism 41, and the moving mechanism 41 drives the first connecting plate 424 to move up and down along the Z-axis direction, so that the deflectable grabbing mechanism 42 moves up and down as a whole. The first connecting plate 424 is provided with a slide rail 425 arranged along the longitudinal direction (i.e., the Z-axis direction) and a first slider 423 swingably slidably connected to the slide rail 425, and the first slider 423 is not only movable up and down along the Z-axis on the slide rail 425 but also swingable in the X-Y plane with respect to the slide rail 425.

The first mounting plate 422 is fixedly connected to the first slider 423, the first clamping assembly 421 is fixedly connected to the bottom of the first mounting plate 422, and the first clamping assembly 421, the first mounting plate 422 and the first slider 423 can synchronously move up and down along the sliding rail 425. Specifically, the first mounting plate 422 is L-shaped, the vertical portion of the first mounting plate 422 is fixedly connected to the first slider 423, and the lateral portion of the first mounting plate 422 is fixedly connected to the first clamping assembly 421. When the second gear 102 rotates, the second gear 102 drives the first slider 423 to swing relative to the sliding rail 425 through the first clamping assembly 421 and the first mounting plate 422.

The first clamping assembly 421 may be a cylinder clamp, an electric cylinder clamp, a robot, or other clamping device commonly used in the market. Preferably, the first gripping assembly 421 is a cylinder gripper, the shape of which can be changed according to the actual requirements.

In this embodiment, a first spring 426 is disposed on the top of the first mounting plate 422, and two ends of the first spring 426 are respectively connected to the top of the first mounting plate 422 and the moving mechanism 41. When the movable mechanism 41 drives the deflectable grabbing mechanism 42 to move downward, the first clamping assembly 421 can adaptively drive the first mounting plate 422 to move upward, so as to avoid the rigid contact between the second gear 102 clamped by the first clamping assembly 421 and the gear seat 100. In the process of moving up the first mounting plate 422, the first spring 426 may be compressed, the first spring 426 generates deformation elastic force, when the moving mechanism 41 drives the deflectable grabbing mechanism 42 to move up as a whole, the deformation elastic force of the first spring 426 forces the first mounting plate 422 to move down along the sliding rail 425 to restore the original position, and the first mounting plate 422 drives the second gear 102 to restore the original position.

Referring to fig. 2 and 3, in the present embodiment, the first slider 423 may swing relative to the sliding rail 425 according to the following connection scheme:

the slide rail 425 is provided with a guide convex strip; the first slider 423 is provided with a guide groove; the guide groove of the first slider 423 is in clearance fit with the guide convex strip of the sliding rail 425, so that a swing gap is formed between the guide groove and the guide convex strip, and the size of the swing gap is 0.08mm to 0.1mm. The swing clearance is lower than 0.08mm, so that the swing amplitude of the first slider 423 is smaller, and the rotation amplitude of the second gear 102 is smaller, and the engagement with the first gear 101 cannot be completed. The swing gap is larger than 0.1mm, so that the swing amplitude of the first sliding block 423 is larger, and the assembly precision is affected. The embodiment obtains the effect of fine swing through the clearance fit between the guide convex strips and the guide grooves, and has the advantages of simple structure, few parts and low manufacturing cost.

The deflectable grabbing mechanism 42 of this embodiment operates as follows: the movable mechanism 41 drives the deflectable grabbing mechanism 42 to move in the X-Y plane, so that the teeth of the second gear 102 contact the teeth of the first gear 101, and the first gear 101 forces the second gear 102 to rotate to complete the engagement of the two gears, and in this process, the second gear 102 drives the sliding block to swing in the X-Y plane relative to the sliding rail 425 through the first clamping assembly 421 and the first mounting plate 422. After the second gear 102 is meshed with the first gear 101, the second gear 102 is just aligned with the corresponding assembly hole of the gear seat 100, and the moving mechanism 41 drives the deflectable grabbing mechanism 42 to move downwards so as to press the rotating shaft of the second gear 102 into the corresponding assembly hole of the gear seat 100, in the process, the second gear 102 cannot be assembled on the gear seat 100 due to deviation of the relative positions of the second gear 102 and the corresponding assembly hole of the gear seat 100, deformation of the shaft of the second gear 102, too small size of the corresponding assembly hole of the gear seat 100 and the like, and the second gear 102 can adaptively move upwards along the Z-axis direction, so that the gear seat 100, the second gear 102 or the deflectable grabbing mechanism 42 is prevented from being damaged.

The moving mechanism 41 of the present embodiment is mainly used to drive the deflectable grabbing mechanism 42 to move in the X-Y plane and up and down along the Z axis. Next, the technical scheme of the moving mechanism 41 of the present embodiment will be further described:

in the present embodiment, the moving mechanism 41 includes a first translation member 411, a second translation member 412, and a pressing member 413. The first translation group is arranged above the top surface of the machine 10 through a mounting frame, the second translation component 412 is arranged at the output end of the first translation component 411, and the first translation component 411 drives the second translation component 412 to reciprocate along the Y axis. The pressing component 413 is disposed at an output end of the second translation component 412, and the pressing component 413 is driven by the second translation component 412 to reciprocate along the X axis. The first translation assembly 411 and the second translation assembly 412 may be movement modules that move linearly.

Specifically, the first translation assembly 411 includes two first screw rods 4111 fixed to the top surface of the mounting frame, two first screw rods 4111 with two ends rotatably disposed on the two first screw rods 4111, a threaded seat screwed with the first screw rods 4111, and a first motor 4112 disposed on one side of the first screw rods 4111, where the length direction of the first screw rods 4111 is parallel to the Y-axis direction; the rotating shaft of the first motor 4112 is fixedly connected to the first screw 4111, so as to obtain forward and reverse rotation of the first screw 4111. The second translation assembly 412 is in threaded connection with the first screw 4111, and when the first motor 4112 drives the first screw 4111 to rotate, the first screw 4111 drives the second translation assembly 412 to reciprocate along the Y-axis direction.

The second translation assembly 412 includes a second screw seat 4121 slidably connected to the top surface of the mounting frame, a second screw rotatably disposed on the second screw seat 4121, a moving frame 4122 threadably connected to the second screw, and a second motor 4123 disposed on one side of the second screw seat 4121, where an output shaft of the second motor 4123 is connected to the second screw shaft, and the second motor 4123 drives the second screw to rotate. Specifically, the second screw rod seat 4121 is slidingly connected to the top surface of the mounting frame through a sliding structure, and the sliding structure comprises two sliding rails extending along the Y axis and two sliding blocks respectively slidingly connected to the two sliding rails, wherein the two sliding rails are arranged at intervals. The bottom surfaces of the two ends of the second screw rod seat 4121 in the X-axis direction are fixedly connected to the two sliding blocks. Two ends of the top surface of the second screw rod seat 4121 are respectively provided with a supporting plate in a protruding mode, and two ends of the second screw rod are respectively connected to the two supporting plates in a rotatable mode. The second motor 4123 is fixedly connected to the outer side of one of the support plates, and an output shaft of the second motor 4123 is fixedly connected to one end of the second screw rod, and the second motor 4123 drives the second screw rod to rotate forward and backward, so that the movable frame 4122 moves reciprocally along the X axis, and the pressing assembly 413 is arranged on the connecting frame and moves reciprocally along the X axis together with the movable frame 4122.

Specifically, the pressing assembly 413 includes a connection bracket 4131, a second mounting plate 4132, a pressing motor 4133, a third screw 4134, a third screw mount 4135, and a third slider 4136. The connecting bracket 4131 is in threaded connection with the moving bracket 4122 on the second screw rod, and the top of the second mounting plate 4132 is fixedly connected to the bottom of the connecting bracket 4131. The lower motor 4133 is fixedly installed at one side of the second mounting plate 4132, and the third screw mount 4135 is provided at the other side of the second mounting plate 4132. The third screw rod 4134 penetrates through the third screw rod seat 4135 along the Z-axis direction and is rotatably connected with the third screw rod seat 4135, the upper end of the third screw rod 4134 is in transmission connection with the output shaft of the lower motor 4133 through a belt, and the lower end of the third screw rod 4134 is in threaded connection with the third sliding block 4136.

The second mounting plate 4132 is provided with a slide rail seat extending along the Z axis, the third sliding block 4136 is slidably connected with the slide rail seat, and the slide rail seat of the second mounting plate 4132 guides the moving process of the third sliding block 4136. The first connecting plate 424 is fixedly connected to the bottom of the third slider 4136. When the third motor drives the third screw rod 4134 to rotate, the third screw rod 4134 drives the third slider 4136 to move up and down along the Z-axis, the third slider 4136 drives the first connecting plate 424 to move up and down, and the first connecting plate 424 drives the deflectable grabbing mechanism 42 to move up and down along the Z-axis.

Further, four guide rods extending downwards are arranged at the bottom of the third screw rod seat 4135, and each guide rod penetrates through the third sliding block 4136 to guide the third sliding block 4136 to move up and down along the Z axis, so that the moving stability of the third sliding block 4136 is improved.

The moving mechanism 41 of the present embodiment operates as follows:

the first translation assembly 411, the second translation assembly 412, and the pressing assembly 413 cooperatively drive the first gripping assembly 421, and the first gripping assembly 421 is movable in the X-Y plane and up and down in the Z-axis direction. First, the first gripping assembly 421 is moved to the second feeding tray, grips the second gear 102 on the second feeding tray, and then adjusts the position of the second gear 102 on the Z axis so that the position of the teeth of the second gear 102 is higher than the position of the teeth of the first gear 101, and ensures that the teeth of the second gear 102 partially overlap with the teeth of the first gear 101 in the X-Y plane. Then, the first clamping assembly 421 drives the second gear 102 to linearly move toward the first gear 101 along the Y-axis direction, and finally moves to a preset first position. The second gear 102 is in a preset first position, with the shaft of the second gear 102 aligned with the mounting hole opposite the gear seat 100. In the process of moving the second gear 102 to the preset first position, the teeth of the second gear 102 are in contact with the teeth of the first gear 101, and the second gear 102 rotates relative to the first gear 101, so that the teeth of the second gear 102 mesh with the teeth of the first gear 101. Preferably, the direction in which the second gear 102 moves is tangential to the ring gear of the first gear 101, so that the second gear 102 and the first gear 101 are more easily rotated and meshed with each other. After the second gear 102 reaches the preset first position, the first clamping assembly 421 drives the second gear 102 to press down, so that the rotating shaft of the second gear 102 is pressed into the corresponding assembly hole of the gear seat 100, and the pre-assembly of the second gear 102 is completed.

Next, the technical solution of the first assembly module 30 of the present embodiment will be further described:

referring to fig. 1 and 7, in the present embodiment, the first assembling module 30 includes a first feeding tray 33, a first moving component 31 and a first grabbing mechanism 32, and the first moving component 31 is disposed on the top surface of the machine 10 through a bracket. The first moving assembly 31 has the same structure as the moving mechanism 41 of the second assembling module 40, and thus, the structure and connection manner of the first moving assembly 31 will not be described again, as long as the first moving assembly 31 can drive the first grabbing mechanism 32 to move along the X, Y, Z axis.

The first moving assembly 31 is configured to drive the first grabbing mechanism 32 to move in the X-Y plane and move up and down along the Z-axis direction, so that the first grabbing mechanism 32 can move to the first feeding tray 33 and grab the first gear 101, then move the first gear 101 to above the corresponding assembly hole of the gear seat 100, press the first gear 101 downward, make the rotating shaft of the first gear 101 assembled on the corresponding assembly hole of the gear seat 100, and limit the rotation of the rotating shaft of the first gear 101 by the first limiting structure 132 on the assembly fixture 13, so as to limit the rotation of the whole first gear 101.

The first grasping mechanism 32 may be a cylinder clamp, an electric cylinder clamp, a robot, or other grasping device. Preferably, the first gripping mechanism 32 of the present embodiment is a cylinder gripper, and the shape of the gripper arm can be adaptively changed according to actual requirements.

In this embodiment, the first feeding tray 33 is placed on a stand, which is used to support the first feeding tray 33, and the stand may be a reciprocally-transmissible conveyor belt, which conveys the first feeding tray 33 fully loaded with the first gear 101 to the loading position, and after the first gear 101 of the first feeding tray 33 is completely removed, the conveyor belt moves the first feeding tray 33 away from the loading position for the operator to replace the first feeding tray 33 fully loaded or reload the first gear 101 onto the original first feeding tray 33. Of course, the stand table may be a general carrying table as long as it can carry the first supply tray 33.

Further, the first feeding tray 33 includes a spacing jack 331 arranged in an array, the spacing jack 331 is a non-circular hole, the shape of which is the same as the shape of the rotating shaft of the first gear 101, and after the rotating shaft of the first gear 101 is inserted into the spacing jack 331, the rotation of the rotating shaft of the first gear 101 is limited by the spacing jack 331, so that the integral rotation of the first gear 101 is limited. By adopting the scheme, the first gears 101 can be arranged according to the uniform arrangement mode and the arrangement direction, under the limit of the limit jack 331, the relative position relationship between the first gears 101 and the first feeding disk 33 is equal to the relative position relationship between the first gears 101 and the assembly jig 13, so that in the assembly process of the first gears 101, after the first gears 101 are grabbed by the first grabbing mechanism 32, the rotating shafts of the first gears 101 can be inserted on the gear seat 100 only through the linear movement in the X, Y, Z axial direction, the rotating shafts of the first gears 101 are not required to be rotated to adjust the positions of the rotating shafts, after the first gears 101 are assembled on the gear seat 100, the rotating shafts of the first gears 101 are limited by the first limit structure 132, and the arrangement direction of the first gears 101 on the gear seat 100 is also fixed. In the foregoing process, the pre-assembly process of the first gear 101 can be completed without using a visual inspection system to assist in positioning.

With continued reference to fig. 1, 5 and 6, in the present embodiment, the automatic assembly device for a micro gear further includes a gear seat assembly module 20, and the gear seat assembly module 20 is used to assemble the gear seat 100 on the assembly fixture 13. Wherein the gear seat assembly module 20 comprises a second moving assembly 21, a second grabbing mechanism 22 and a second feeding tray; the second grabbing mechanism 22 is arranged on the second moving assembly 21, the second moving assembly 21 drives the second grabbing mechanism 22 to move along the X, Y, Z shaft, the second grabbing mechanism 22 grabs the gear seat 100 on the second feeding disc, and then the gear seat 100 is assembled on the assembly jig 13.

Specifically, the structure of the second moving assembly 21 is the same as that of the first moving assembly 31, and the second gripper mechanism 22 is substantially the same as that of the first gripper mechanism 32, with the only difference that the gripper arm shape of the second gripper mechanism 22 is different from that of the first gripper mechanism 32.

In this embodiment, the automatic assembling device for micro gears further includes a third assembling module 50, and the third assembling module 50 and the second assembling module 40 are sequentially arranged along the conveying direction of the conveying device 11. The third assembling module 50 has the same structure as the second assembling module 40 for assembling the third gear 103. The process of assembling the third gear 103 by the third assembling module 50 is identical to the process of assembling the second gear 102 by the second assembling module 40, and thus, the structure of the third assembling module 50 and the specific process of assembling the third gear 103 will not be described in detail herein.

In this embodiment, the automatic assembling device for micro gears further includes a fourth assembling module 60, and the fourth assembling module 60 and the third assembling module 50 are sequentially arranged along the conveying direction of the conveying device 11. The fourth assembling module 60 has the same structure as the first assembling module 30 for assembling the fourth gear 104. The process of assembling the fourth gear 104 by the fourth assembling module 60 is identical to the process of assembling the first gear 101 by the first assembling module 30, and thus, the structure of the fourth assembling module 60 and the specific process of assembling the fourth gear 104 will not be described in detail herein.

As is known from what has been described above, the position and arrangement direction of the first gear 101 on the assembly jig 13 have been fixed, and since the second gear 102 is meshed with the first gear 101 and the third gear 103 is meshed with the second gear 102, the position and arrangement direction of the third gear 103 are also fixed. On the basis of the foregoing, since the fourth assembling module 60 and the first assembling module 30 have the same structure, the fourth gear 104 is also loaded by the corresponding feeding tray, the initial position of the fourth gear 104 is already fixed, the relative positional relationship between the fourth gear 104 and the corresponding feeding tray is equivalent to the relative positional relationship between the fourth gear 104 and the assembling jig 13, and only the fourth gear 104 needs to be linearly moved to the position right above the corresponding assembling hole of the gear seat 100 along the X, Y axis direction, and the fourth gear 104 is linearly moved downwards along the Z axis direction, so that the rotating shaft of the fourth gear 104 is pressed in the corresponding assembling hole of the gear seat 100. In this process, the teeth of the fourth gear 104 are engaged with the teeth of the third gear 103 from top to bottom in a staggered manner, completing the engagement of the fourth gear 104 and the third gear 103. In this step, the fourth gear 104 does not need to deflect, so that the assembling process of the fourth gear 104 requires less assembling actions than the assembling process of the second gear 102 and the third gear 103, and the assembling process is simple and quick.

Next, the technical scheme of the assembly fixture 13 of the present embodiment will be further described.

Referring to fig. 4-6, in the present embodiment, the assembling jig 13 is substantially square, the top surface of the assembling jig 13 is recessed to form a loading slot 131 for assembling the gear seat 100, the shape of the loading slot 131 is substantially the same as that of the gear seat 100, and the gear seat 100 is placed in the loading slot 131, and the position of the gear seat 100 is defined by the loading slot 131 for performing the subsequent assembling process.

The first limiting structure 132 includes a first limiting hole formed on the assembly fixture 13, and the first limiting hole is located in the loading slot 131. The first limiting hole is a non-circular hole, such as an oval hole, a prismatic hole, a polygonal hole and other special-shaped holes, the shape of the rotating shaft of the first gear 101 is the same as that of the first limiting hole, and when the rotating shaft of the first gear 101 is inserted into the first limiting hole, the first limiting hole can limit the rotating shaft of the first gear 101 to rotate. The scheme is simple in structure and convenient to manufacture. Further, the internal shape of the first limiting hole is the same as the internal shape of the limiting insertion hole 331.

In other embodiments, the first limiting structure 132 may also be a clamping block protruding on the top surface of the assembly fixture 13, where when the first gear 101 is assembled on the assembly seat, the clamping block is clamped on the teeth of the first gear 101 to limit the rotation of the first gear 101. Of course, in other embodiments, the first limiting structure 132 may be other components or structures, as long as it can limit the rotation of the first gear 101.

In this embodiment, the assembly fixture 13 is further provided with a second limiting structure 133, and the second limiting structure 133 is identical to the first limiting structure 132. When the fourth gear 104 is assembled to the gear seat 100, the second limiting structure 133 limits the rotation of the rotation shaft of the fourth gear 104, thereby limiting the rotation of the fourth gear 104 as a whole.

Specifically, the second limiting structure 133 of this embodiment includes a second limiting hole formed on the top surface of the assembly fixture 13, a non-circular hole formed in the second limiting hole, a rotating shaft of the fourth gear 104 is adapted to the shape of the second limiting hole, and the second limiting hole limits the rotating shaft of the fourth gear 104 to rotate.

Referring to fig. 8 and 9, in the present embodiment, the bottom of the assembly fixture 13 is provided with a receiving cavity, the receiving cavity is communicated with the bottom ends of the first limiting hole and the second limiting hole, the receiving cavity is provided with an elastic member, when the first gear 101 and the fourth gear 104 are assembled on the gear seat 100, the bottom ends of the rotation shaft of the first gear 101 and the bottom ends of the rotation shaft of the fourth gear 104 are abutted on the elastic member, so that the gear ring of the first gear 101 and the gear ring of the fourth gear 104 are located above the top surface of the gear seat 100 at intervals, that is, the heights of the teeth of the first gear 101 and the teeth of the fourth gear 104 are lifted. On the basis of the foregoing, during the movement of the second gear 102 toward the first gear 101 in the X-Y axis plane, the teeth of the second gear 102 can be brought into contact with the teeth of the first gear 101 even if the height of the second gear 102 in the Z axis direction is appropriately increased. The height of the second gear 102 in the Z-axis direction is properly raised, so that the contact between the bottom end of the rotating shaft of the second gear 102 and the top surface of the gear seat 100 can be avoided to influence the moving process of the second gear 102 in the X-Y plane.

Further, the transfer structure 12 further includes a base 121, the base 121 is fixedly connected to the conveying device 11, and the assembly fixture 13 is fixedly connected to the top surface of the base 121. The base 121 is provided with an assembly groove, and a cushion block 122 is fixedly connected in the assembly groove. The elastic member includes a moving block 14 and a second spring 141, the bottom of the moving block 14 is movably disposed in the assembly groove of the base 121 up and down, and the top of the moving block 14 is disposed in the receiving cavity of the assembly jig 13. The second spring 141 is located between the bottom end surface of the moving block 14 and the top surface of the pad 122, and connects the bottom end surface of the moving block 14 and the top surface of the pad 122. When the rotation shafts of the first gear 101 and the second gear 102 press the moving block 14 from top to bottom, the moving block 14 moves down, and presses the second spring 141, so that the second spring 141 generates deformation elastic force for forcing the moving block 14 to move up to restore to the original position. Meanwhile, it is also possible to avoid the rotation shafts of the first gear 101 and the fourth gear 104 from rigidly contacting the moving block 14 and the ring gears of the first gear 101 and the fourth gear 104 from rigidly contacting the gear seat 100 at the time of assembling and pressing down the first gear 101 and the fourth gear 104.

Because the first, second, third and fourth gears 101, 102, 103, 104 are extremely small in size, it is also difficult for the first, second, third and fourth assembly modules 30, 40, 50, 60 to precisely and perfectly assemble the first, second, third and fourth gears 101, 102, 103, 104 to a preset ideal state at one time due to the limitation of the operation space, completing high quality assembly. In order to solve the problem of assembly quality of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104, the present embodiment does not require excessive positional accuracy in pressing down the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 by the first assembly module 30, the second assembly module 40, the third assembly module 50 and the fourth assembly module 60, and only needs to insert the rotating shafts of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 into the corresponding assembly holes of the gear seat 100, and insert the rotating shafts of the first gear 101 and the rotating shafts of the fourth gear 104 into the first limiting holes and the second limiting holes, respectively, so as to complete the pre-assembly of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104.

After the pre-assembly of the first gear 101, the second gear 102, the third gear 103, and the fourth gear 104 is completed, the present embodiment also employs the following scheme to complete the secondary assembly of the first gear 101, the second gear 102, the third gear 103, and the fourth gear 104:

referring to fig. 1, 10, 11 and 12, the automatic assembly device for a micro gear of the present embodiment further includes a gear cover assembly module 70, and the gear cover assembly module 70 and the fourth assembly module 60 are sequentially disposed in the transmission direction of the transmission device 11.

The gear cover assembly module 70 includes a third feed tray, a third moving assembly 71, a shaping cover 73, and a third grasping mechanism 72. The shaping cover 73 and the third grabbing mechanism 72 are arranged at the bottom of the third moving assembly 71, and the shaping cover 73 and the third grabbing mechanism can synchronously move linearly in the X, Y, Z axial direction under the driving of the third moving assembly 71. The third feeding tray is provided at one side of the third moving assembly 71 to provide a gear cover for the third grabbing mechanism 72. The structure of the third moving assembly 71 is the same as that of the first moving assembly 31, and the structures of the third grasping mechanism 72 and the first grasping mechanism 32 are the same, and thus, the structure of the third moving assembly 71 and the structure of the third grasping mechanism 72 will not be described again.

The shaping cap 73 includes a mounting base 732, a linear spring (not shown), a guide post 734, and a ram 731. The mounting seat 732 is fixedly connected to the bottom of the third moving assembly 71, a plugging groove is formed in the bottom surface of the mounting seat 732, and the pressing head 731 is vertically movably arranged in the plugging groove. A guide post 734 is disposed within the socket and extends through the ram 731 to guide the movement of the ram 731. The linear spring is sleeved on the guide post 734 and is positioned between the pressure head 731 and the inner end wall of the insertion groove, when the pressure head 731 is blocked to move upwards, the linear spring is extruded and compressed, and the linear spring can buffer the upward movement process of the pressure head 731.

The bottom surface of the pressing head 731 includes a shaping groove 733, and the shaping groove 733 includes a first adjusting portion 7331, a second adjusting portion 7332, a third adjusting portion 7333, and a fourth adjusting portion 7334 that respectively match the upper shapes of the first gear 101, the second gear 102, the third gear 103, and the fourth gear 104.

During operation, the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are assembled on the gear seat 100, then the third grabbing mechanism 72 is driven by the third moving component 71 to move to the third feeding disc, the gear cover is grabbed from the third feeding disc, then the third moving component 71 drives the shaping cover 73 to move to the positions of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104, the shaping cover 73 is driven to be pressed down on the tops of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 from top to bottom, and the first adjusting part 7331, the second adjusting part 7332, the third adjusting part 7333 and the fourth adjusting part 7334 are sleeved on the gear ring of the first gear 101, the gear ring of the second gear 102, the gear ring of the third gear 103 and the gear ring of the fourth gear 104 respectively, so that the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are in a perfect linkage state, and the first gear 101, the second gear 103, the fourth gear 104 are in a perfect linkage state, and the fourth gear 104 are formed.

Further, the second adjusting portion 7332 and the third adjusting portion 7333 are each provided with a top wall, and when the shaping cover 73 is pushed down, the top walls of the second adjusting portion 7332 and the third adjusting portion 7333 respectively push down the ring gear top end walls of the second gear 102 and the third gear 103, thereby continuing to move down the second gear 102 and the third gear 103 to be assembled in place.

By means of the scheme, the relative positions of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are adjusted, and the second gear 102 and the third gear 103 are pressed and assembled in place, so that secondary assembly of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 is completed, the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 are assembled to a preset ideal state, and the assembly quality of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 is guaranteed.

In the present embodiment, after the secondary assembly of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 is completed, the third moving assembly 71 drives the third grabbing mechanism 72 to move above the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104, and then the gear cover clamped by the third grabbing mechanism 72 is pressed down on top of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 and is matched and connected with the gear seat 100, thereby completing the gear cover assembly process.

In this embodiment, the automatic assembling device for micro gears further includes a robot arm (not shown) and a visual inspection device (not shown). The gear cover assembly module 70, the manipulator and the visual inspection device are sequentially arranged along the transmission direction of the transmission device 11. The manipulator is used for taking down a semi-finished product formed by combining the gear seat 100, the gear cover, the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 from the assembly jig 13, and placing the semi-finished product on a material tray at one side of the manipulator. The vision detection device is used for detecting whether a part remains on the assembly jig 13, if the part remains, a feedback signal is sent to the control center, and the control center can drive the mechanical arm to take down the part, so that the process of loading a new gear seat 100 of the subsequent assembly jig 13 is prevented from being influenced.

In the present embodiment, the gear seat assembly module 20, the first assembly module 30, the second assembly module 40, the third assembly module 50, the fourth assembly module 60, the tooth cover assembly module, the robot arm, and the vision inspection system are disposed in this order along the transmission direction of the transmission device 11. The transmission device 11 sequentially transmits the assembly jig 13 to the gear seat assembly module 20, the first assembly module 30, the second assembly module 40, the third assembly module 50, the fourth assembly module 60, the tooth cover assembly module, the manipulator and the relevant positions of the vision detection system so as to match the assembly work of each assembly jig.

Referring to fig. 1 and 13, in the present embodiment, the transmission device 11 includes a transmission chain 113, a main shaft 1121, a sub shaft 1141, and a transmission motor; the conveying chain 113 is connected with the main rotating shaft 1121 and the auxiliary rotating shaft 1141 respectively; the transmission motor is connected with the main rotating shaft 1121 in a shaft way, and the transmission chain 113 is driven to move through the main rotating shaft 1121; the transfer structure 12 further comprises a plurality of vehicle bodies, wherein the vehicle bodies are fixedly arranged on the conveying chain 113, and each vehicle body is uniformly distributed on the conveying chain 113; each of the assembly jigs 13 is mounted on each of the vehicle bodies, respectively.

In the present embodiment, the transmission device 11 further includes a turntable base 111, a main turntable 112, and a sub turntable 114; the turntable base 111 is fixedly installed on the machine 10, and the main turntable 112 and the auxiliary turntable 114 are respectively arranged on the turntable base 111 and are respectively connected with the main rotating shaft 1121 and the auxiliary rotating shaft 1141; the conveying chain 113 is annular, and two ends of the annular conveying chain are respectively connected with the main turntable 112 and the auxiliary turntable 114 to form an annular conveying belt, and the conveying direction of the annular conveying belt is the conveying direction of the conveying device 11.

The side of one or both sides of the endless conveyor is provided with a plurality of positioning mechanisms 115; the positioning mechanism 115 is fixedly connected with the base 1; the positioning mechanism 115 comprises a positioning rotating shaft 1151, a positioning cylinder 1153, a second connecting plate 1152 and a plurality of positioning plates 1154; a second connection plate 1152 and a positioning plate 1154 are fixedly mounted on the positioning shaft 1151; the fixed end of the positioning cylinder 1153 is fixedly connected with the machine 10, and the movable end is connected with the positioning rotating shaft 1151 through a second connecting plate 1152; the positioning plates 1154 are respectively arranged at positions corresponding to the stations, and positioning protrusions 1155 are arranged on the positioning plates 1154; the vehicle body of each transfer structure 12 is provided with a positioning clamping groove 123 respectively; when the transfer structure 12 moves to the corresponding station, the corresponding second connecting plate 1152 drives the positioning rotating shaft 1151 to rotate by controlling the stretching or shrinking of the positioning air cylinder 1153, so that the positioning protrusion 1155 on the positioning plate 1154 is in clamping connection with the positioning clamping groove 123 of the corresponding vehicle body. By the positioning function of the positioning mechanism 115 on each vehicle body, the assembly is more stable, and the assembly precision is ensured.

Referring to fig. 14, the present embodiment provides an automatic assembling method for a micro gear, which includes the following steps:

s1, loading a gear seat 100 on an assembly jig 13, assembling a first gear 101 on the gear seat 100 from top to bottom, enabling a rotating shaft of the first gear 101 to be matched with the assembly jig 13, and limiting the rotation of the first gear 101 by the assembly jig 13;

s2, moving the second gear 102 to the first gear 101 in the X-Y plane, enabling teeth of the second gear 102 to be in contact with those of the first gear 101, enabling the first gear 101 to force the second gear 102 to adaptively deflect so as to enable the second gear 102 to be meshed with the first gear 101, then pressing down the second gear 102, and assembling the second gear 102 on the gear seat 100;

s3, moving the third gear 103 to the second gear 102 in the X-Y plane, enabling teeth of the third gear 103 to be in contact with teeth of the second gear 102, enabling the second gear 102 to force the third gear 103 to adaptively deflect so as to enable the third gear 103 to be meshed with the second gear 102, then pressing down the third gear 103, and assembling the third gear 103 on the gear seat 100;

s4, assembling the fourth gear 104 on the gear seat 100 from top to bottom, enabling a rotating shaft of the fourth gear 104 to be matched with the assembling jig 13, limiting the rotation of the fourth gear 104 by the assembling jig 13, and enabling the fourth gear 104 to be meshed with the third gear 103;

S5, simultaneously pressing the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 from top to bottom by adopting the shaping cover 73 so as to adjust the relative positions of the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 and assemble the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 in place;

s6, taking down a semi-finished product formed by combining the gear seat 100, the gear cover, the first gear 101, the second gear 102, the third gear 103 and the fourth gear 104 on the assembly jig 13 from the assembly jig 13 by using a mechanical arm;

s7, detecting whether part residues exist on the assembly jig 13 by adopting a visual detection device.

According to another aspect of the present application, there is also provided an automatic assembly system comprising: a controller and the automatic assembly device for the micro gear; the controller is electrically connected to the transmission device 11, the gear seat assembly module 20, the first assembly module 30, the second assembly module 40, the third assembly module 50, the fourth assembly module 60, and the gear cover assembly module 70 in the automatic gear assembly device, and controls the working states of the transmission device 11, the gear seat assembly module 20, the first assembly module 30, the second assembly module 40, the third assembly module 50, the fourth assembly module 60, and the gear cover assembly module 70. Specifically, the controller is used for controlling the automatic assembly device of the micro gears to execute the automatic assembly method of the micro gears.

Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, the scope of which is defined by the scope of the appended claims.

Claims

1. An automatic assembly device for a micro gear, comprising: a transmission device (11), a transfer structure (12), a first assembly module (30) and a second assembly module (40); the transfer structure (12) is arranged on the transmission device (11), and the transfer structure (12) is moved to and away from the first assembly module (30) and the second assembly module (40) by the transmission device (11); an assembling jig (13) for loading the gear seat (100) is arranged on the transfer structure (12); the assembly jig (13) comprises a first limiting structure (132) for limiting the rotation of the first gear (101); the first assembling module (30) comprises a first assembling device for assembling a first gear (101) on a gear seat (100) borne by the assembling jig (13) in the past; the second assembling module (40) comprises a second assembling device for assembling a second gear (102) on a gear seat (100) borne by the assembling jig (13) in the past;

Wherein the second assembling means comprises a moving mechanism (41) and a deflectable grabbing mechanism (42) for assembling the second gear (102); the deflectable grabbing mechanism (42) is arranged on the moving mechanism (41), the deflectable grabbing mechanism (42) is driven to move in an X-Y plane and move along a Z axis by the moving mechanism (41), so that the deflectable grabbing mechanism (42) drives the second gear (102) to move towards the first gear (101) in the X-Y plane and be meshed with the first gear (101), and the second gear (102) is driven to be assembled on the gear seat (100) downwards along the Z axis direction; when the teeth of the second gear (102) are in contact with the teeth of the first gear (101), the first gear (101) forces the second gear (102) and the deflectable gripping mechanism (42) to deflect so that the first gear (101) meshes with the second gear (102).

2. The automatic assembly device for a micro-gear according to claim 1, wherein said deflectable gripping mechanism (42) comprises: a first connection plate (424), a first mounting plate (422), and a first clamping assembly (421); the first connecting plate (424) is mounted on the moving mechanism (41); a sliding rail (425) arranged longitudinally is arranged on the first connecting plate (424), a sliding block capable of swinging is arranged on the sliding rail (425), and the first mounting plate (422) is arranged on the sliding block; a first spring (426) is arranged at the top of the first mounting plate (422), and the first spring (426) is in abutting connection with the bottom of the moving mechanism (41); the first clamping assembly (421) is fixedly connected to the first mounting plate (422).

3. An automatic assembling device for a micro-gear according to claim 2, wherein: the sliding rail (425) is provided with a guide convex strip; the sliding block is provided with a guide groove; the guide convex strips are in clearance fit with the guide grooves so as to form swinging gaps between the guide grooves and the guide convex strips, and the size of the swinging gaps is 0.08mm to 0.1mm.

4. A micro-gear automatic assembly device according to claim 3, wherein: the moving mechanism (41) comprises a first translation assembly (411), a second translation assembly (412) and a pressing assembly (413); the second translation assembly (412) is arranged on the first translation assembly (411), and the first translation assembly (411) drives the second translation assembly (412) to reciprocate along the Y-axis direction; the pressing component (413) is arranged on the second translation component (412), and the pressing component (413) is driven to reciprocate along the X-axis direction by the second translation component (412);

the pressing component (413) comprises a connecting bracket (4131), a second mounting plate (4132), a pressing motor (4133), a third screw rod (4134) seat and a third sliding block (4136); the connecting bracket (4131) is arranged on the second translation assembly (412); the top of the second mounting plate (4132) is fixedly connected to the bottom of the connecting bracket (4131); the pressing motor (4133) is fixedly connected to one side of the second mounting plate (4132), and the third screw rod (4134) seat is arranged on the other side of the second mounting plate (4132); the third screw rod (4134) penetrates through the third screw rod (4134) seat along the Z-axis direction and is rotatably connected with the third screw rod (4134) seat, the upper end of the third screw rod (4134) is in transmission connection with the output shaft of the pressing motor (4133) through a belt, and the lower end of the third screw rod (4134) is in threaded connection with the third sliding block (4136);

The second mounting plate (4132) is provided with a sliding rail (425) seat extending along the Z axis, and the third sliding block (4136) is in sliding connection with the sliding rail (425) seat; the first connecting plate (424) is fixedly connected to the bottom of the third sliding block (4136); when the pressing motor (4133) drives the third screw rod (4134) to rotate, the third screw rod (4134) drives the third sliding block (4136) to move up and down along the Z axis.

5. The automatic assembly device for micro gears according to claim 1, wherein the first assembly module (30) further comprises a first feeding tray (33), the first feeding tray (33) is provided with a limit jack (331) for inserting the rotating shaft of the first gear (101) and limiting the rotation of the rotating shaft of the first gear (101); the first limiting structure (132) comprises a non-circular first limiting hole, and the first limiting hole is formed in the top surface of the assembly jig (13) and is used for inserting a rotating shaft of the first gear (101); the inner shape of the first limiting hole is the same as the inner shape of the limiting insertion hole (331).

6. The automatic assembling device for micro gears according to claim 5, wherein: the assembly jig (13) bottom is equipped with and holds the chamber, hold the chamber intercommunication the bottom of first spacing hole, hold the chamber and be equipped with the elastic component, work as first gear (101) assembly is in when gear seat (100), the pivot bottom butt of first gear (101) the elastic component.

7. The automatic assembly device for micro gears according to any one of claims 1 to 6, further comprising a third assembly module (50), wherein the third assembly module (50) is identical in structure to the second assembly module (40), and when the transfer structure (12) is driven to move to the third assembly module (50) by the transmission device (11), the third assembly module (50) assembles a third gear (103) to the gear seat (100) so that the third gear (103) meshes with the second gear (102).

8. The automatic assembling device for micro gears according to claim 7, further comprising a fourth assembling module (60), wherein the fourth assembling module (60) has the same structure as the first assembling module (30), and when the transfer structure (12) is driven to move to the fourth assembling module (60) by the transmission device (11), the fourth assembling module (60) assembles a fourth gear (104) to the gear seat (100) so that the fourth gear (104) is meshed with the third gear (103).

9. The automatic assembling device for micro gears according to claim 8, further comprising a gear cover assembling module (70) for assembling a gear cover on a gear seat (100) carried by said assembling jig (13) in the past; the gear cover assembly module (70) comprises a third moving assembly (71), a shaping cover (73) and a third grabbing mechanism (72); the shaping cover (73) and the third grabbing mechanism (72) are arranged at the bottom of the third moving assembly (71), and the shaping cover (73) and the third grabbing machine synchronously move in the direction of the X, Y, Z shaft in a straight line under the driving of the third moving assembly (71);

The shaping cover (73) comprises a mounting seat (732), a linear spring, a guide post (734) and a pressure head (731); the mounting seat (732) is fixedly connected to the bottom of the third moving assembly (71), a plugging groove is formed in the bottom surface of the mounting seat (732), and the pressure head (731) is arranged in the plugging groove in a vertically movable manner; the guide post (734) is arranged in the inserting groove and penetrates through the pressure head (731) to guide the moving process of the pressure head (731); the linear spring is sleeved on the guide post (734) and is positioned between the pressure head (731) and the inner end wall of the inserting groove;

the bottom surface of the press head (731) comprises a shaping groove (733), and the shaping groove (733) comprises a first adjusting part (7331), a second adjusting part (7332), a third adjusting part (7333) and a fourth adjusting part (7334) which are respectively matched with the upper parts of the first gear (101), the second gear (102), the third gear (103) and the fourth gear (104).

10. An automated assembly system, comprising: a controller, the automatic assembly device for a micro gear according to any one of claims 1 to 9;

the controller is used for controlling the automatic assembly device of the micro gear to execute the following steps:

s1, loading a gear seat (100) on an assembly jig (13), assembling a first gear (101) on the gear seat (100) from top to bottom, enabling a rotating shaft of the first gear (101) to be matched with the assembly jig (13), and limiting the rotation of the first gear (101) by the assembly jig (13);

S2, moving the second gear (102) to the first gear (101) in the X-Y plane, enabling teeth of the second gear (102) to be in contact with teeth of the first gear (101), enabling the first gear (101) to force the second gear (102) to adaptively deflect so as to enable the second gear (102) to be meshed with the first gear (101), then enabling the second gear (102) to be pressed down, and assembling the second gear on the gear seat (100);

s3, moving the third gear (103) to the second gear (102) in the X-Y plane, enabling teeth of the third gear (103) to be in contact with teeth of the second gear (102), enabling the second gear (102) to force the third gear (103) to adaptively deflect so as to enable the third gear (103) to be meshed with the second gear (102), then pressing down the third gear (103), and assembling the third gear on the gear seat (100);

s4, assembling the fourth gear (104) on the gear seat (100) from top to bottom, enabling a rotating shaft of the fourth gear (104) to be matched with an assembling jig (13), limiting the rotation of the fourth gear (104) by the assembling jig (13), and enabling the fourth gear (104) to be meshed with the third gear (103);

s5, simultaneously pressing the first gear (101), the second gear (102), the third gear (103) and the fourth gear (104) from top to bottom by adopting the shaping cover (73) so as to adjust the relative positions of the first gear (101), the second gear (102), the third gear (103) and the fourth gear (104) and enable the first gear (101), the second gear (102), the third gear (103) and the fourth gear (104) to be assembled in place.