CN205745210U - A kind of planetary gear assembly manipulator - Google Patents
A kind of planetary gear assembly manipulator Download PDFInfo
- Publication number
- CN205745210U CN205745210U CN201620732722.0U CN201620732722U CN205745210U CN 205745210 U CN205745210 U CN 205745210U CN 201620732722 U CN201620732722 U CN 201620732722U CN 205745210 U CN205745210 U CN 205745210U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- planetary gear
- bearing
- sub
- gear assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of planetary gear assembly manipulator, including the fixed disk be arrangeding in parallel and movable disk, at least two first connecting rod along the circumferential direction it is evenly arranged with in movable disk, the second connecting rod corresponding with first connecting rod it is evenly arranged with on fixed disk, second connecting rod is made up of the sub-connecting rod of fix connection first and the second sub-connecting rod, the angle that first sub-connecting rod and the second sub-connecting rod are formed is the first angle, second connecting rod is rotatably connected on fixed disk, one end of first connecting rod is rotatably connected in movable disk, other end link rotatable with the first of corresponding second connecting rod connects；Fixed disk is fixedly installed on the first bearing, and movable disk drives it along movable disk axis direction by the first drive mechanism and moves back and forth, thus drives the front end opening and closing of the second sub-connecting rod.This utility model has the advantage that adapting to different size planetary gear assembles automatically compared to existing technology.
Description
Technical field
This utility model relates to automatic assembly machine hands technical field, in particular a kind of planetary gear make-up machinery
Hands.
Background technology
Planetary reducer is applied widely in engineering machinery, and with its reliable operation, service life is long, gear ratio
Scope is wide, and volume is little, compact conformation, power and speed range is wide etc. that feature is favored by Machine Design teacher deeply.In engineering
In production, due to itself and the complexity of structure and particularity, the assembling of most of planetary gears is still manual assembly.In order to improve life
Produce efficiency and to reduce the flank of tooth that brings of human operational error damaged, be badly in need of a kind of can the mechanical hand of High Precision Automatic assembling.
Now, the substantial amounts of assembly equipment for different Design of Speed Reducers, installs gear teeth phase yet with gear both at home and abroad
Complexity to location positioning, the assembly equipment commonly used at present is mainly the assembling of gear and axle, is not related to gear assembling
Position relatively adjusts automatically, does not has the function of gear location assembling.And need different dresses for different decelerator parts
Arranging standby, this makes planetary reducer production automation degree low, and cost is high.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of planetary gear assembly manipulator,
To reaching to adapt to the purpose that different size planetary gear assembles automatically.
This utility model is achieved through the following technical solutions:
A kind of planetary gear assembly manipulator, including the fixed disk be arrangeding in parallel and movable disk, along circle in described movable disk
Circumferential direction is evenly arranged with at least two first connecting rod, described fixed disk is evenly arranged with corresponding with described first connecting rod
Second connecting rod, described second connecting rod is made up of the sub-connecting rod of fix connection first and the second sub-connecting rod, described first sub-connecting rod and
The angle that second sub-connecting rod is formed is the first angle, and described first angle is more than 0 ° less than 180 °, and described second connecting rod rotates even
It is connected on described fixed disk, and described first sub-connecting rod and the second sub-connecting rod stretch out the both sides of described fixed disk respectively, described
One end of one connecting rod is rotatably connected in movable disk, other end link rotatable with the first of corresponding second connecting rod connects；Institute
Stating fixed disk to be fixedly installed on the first bearing, described movable disk drives it along described movable disk axle by the first drive mechanism
Line direction moves back and forth, thus drives the front end opening and closing of described second sub-connecting rod, to realize planetary clamping, and institute
Stating the first drive mechanism to be fixedly installed on described first bearing, described first bearing is driven it along by the second drive mechanism
Described movable disk axis direction moves back and forth, and described second drive mechanism is fixedly installed on the second bearing, described second bearing
Front end is fixed with at least two guide rail forward extended out, and described guide rail is positioned at the peripheral of described first bearing and described guide rail
Length direction is parallel with the axis direction of described movable disk, and described first bearing outer surface is along the circumferential direction fixedly installed at least
Two slide blocks, described slide block and described guide rail one_to_one corresponding, and described slide block can slide in corresponding described guide rail, and described the
Two bearings drive it to rotate by the 3rd drive mechanism.
Also include that positioner, described positioner include locating support, spring and movable block, described planetary take turns
Be sequentially provided with movable block and locating support outside tooth, described pressure mounting of the spring between described movable block and described locating support, institute
Stating movable block and be fixed with locating dowel towards a described planetary forequarter, described movable block is towards described planet tooth
The rear portion, side of wheel is provided with the first inclined plane, and described first bearing front end is provided with annular and takes over a business, the excircle that described annular is taken over a business
Face is the angled circumferential face matched with described first inclined plane, by described first bearing along the axis side of described movable disk
To movement, thus described locating dowel is driven planetary to move radially along described.
Described second sub-connecting rod front end outer side rotates and is provided with rotary press head, and the lateral surface of described rotary press head is work surface
And described work surface can fit compression with described inner hole of planetary gear wall.
Described first drive mechanism and the second drive mechanism are cylinder.
Described 3rd drive mechanism is motor.
Also including that outer support, described 3rd drive mechanism are fixedly installed on described outer support, described second bearing passes through
Bearing rotates and is arranged in described outer support, and described positioning support is fixedly installed on described outer support.
Three first connecting rods along the circumferential direction it are evenly arranged with in described movable disk.
Described second bearing front end is fixed with three guide rails forward extended out.This utility model has compared to existing technology
Advantages below:
1, a kind of planetary gear assembly manipulator that this utility model provides, by cylinder, the driving of motor, coordinates location
The positioning action of device, to realize the adjustment of planetary crawl and its circumferential position, in order to adapts to different installation site
Lower planetary gear coordinates with internal gear.This utility model is applied widely, highly versatile, overcomes prior art middle gear to assemble
Position relatively is difficult to the defect determined, greatly reduces cost, is more beneficial for the automated production of planetary reducer.
2, a kind of planetary gear assembly manipulator that this utility model provides, whole mechanical hand all can be come by control system
Automatically controlling, decrease manual operation, be more beneficial for realizing the Automatic Control of mechanical hand, automaticity is high, from
And part is more accurate relative to position during making assembling, reduce rigging error, improve planetary reducer transmission accuracy.
3, a kind of planetary gear assembly manipulator that this utility model provides, its rotary press head can rotate around bearing pin, it is ensured that
Handgrip can adapt to the planetary gear surface of different pore size, thus adds the versatility of mechanical hand.One as handgrip is excellent
Selecting structure, the most totally three handgrips are evenly distributed, and the distribution of three handgrips can self-centering, it is ensured that the position essence of assembling
Degree.Rotary press head includes that its second connecting rod connected is replaced by other structures, such that it is able to use on same mechanical hand real
The assembling of the various parts such as existing bearing, spline, gear, is a multifunction manipulator.
4, a kind of planetary gear assembly manipulator that this utility model provides, two drives cylinder, handgrip and first
Motor is all built in mechanical hand outer support, makes full use of mechanical hand inner space, and topology layout is compact, and volume is little, saves sky
Between.
Accompanying drawing explanation
Fig. 1 is of the present utility model partly to cut open structural representation.
Fig. 2 is the perspective view of handgrip of the present utility model.
Fig. 3 is use installation diagram of the present utility model.
Label in figure: 1 planetary gear；2 first sub-connecting rods；3 second sub-connecting rods；4 rotary press heads；5 movable blocks；51 location
Post；6 springs；7 first bearings；8 locating supports；9 second bearings；10 fixed disks；11 first connecting rods；12 movable disk；13 first gas
Cylinder；14 guide rails；15 slide blocks；16 second cylinders；17 first motors；18 outer supports；19 mechanical arms；20 second motors；21 vertical axises
Decelerator；22 outer support supports；23 internal gears；24 planet carriers.
Detailed description of the invention
Elaborating embodiment of the present utility model below, the present embodiment is being front with technical solutions of the utility model
Put and implement, give detailed embodiment and concrete operating process, but protection domain of the present utility model does not limits
In following embodiment.
See Fig. 1 to Fig. 3, present embodiment discloses a kind of planetary gear assembly manipulator, fixing including be arranged in parallel
Dish 10 and movable disk 12, movable disk 12 is along the circumferential direction evenly arranged with at least two first connecting rod 11, on fixed disk 10 all
Even being provided with the second connecting rod corresponding with first connecting rod 11, second connecting rod is by the fix connection first sub-connecting rod 2 and the second son
Connecting rod 3 is constituted, and the angle that the first sub-connecting rod 2 and the second sub-connecting rod 3 are formed is the first angle, and the first angle is less than more than 0 °
180 °, second connecting rod is rotatably connected on fixed disk 10, and the first sub-connecting rod 2 and the second sub-connecting rod 3 stretch out fixed disk 10 respectively
Both sides, one end of first connecting rod 11 is rotatably connected in movable disk 12, the other end rotates even with the corresponding first sub-connecting rod 2
Connecing, movable disk 12 is along the circumferential direction evenly arranged with three first connecting rods 11, the second sub-connecting rod 3 front end outer side rotates and is provided with
Rotary press head 4, the lateral surface of rotary press head 4 is that work surface and work surface can fit compression with planetary gear 1 inner hole wall；Fixing
Dish 10 is fixedly installed on the first bearing 7, and first connecting rod the 11, first sub-connecting rod 2 and the second sub-connecting rod 3 collectively form grip
Point, by the first cylinder 13, it moves back and forth movable disk 12 along movable disk 12 axis direction, thus drives the second sub-connecting rod 3
Front end opening and closing, to realize the clamping of planetary gear 1, the first cylinder 13 is fixedly installed on the first bearing 7, the first bearing
7 drive it along movable disk 12 axis direction by the second cylinder 16 moves back and forth, and the second cylinder 16 is fixedly installed on second
On seat 9, the second bearing 9 is rotated by bearing and is arranged in outer support 18, and the second bearing 9 front end is fixed with three forward extended out
Individual guide rail 14, the length direction that guide rail 14 is positioned at the periphery of the first bearing 7 and guide rail 14 is parallel with the axis direction of movable disk 12,
First bearing 7 outer surface is along the circumferential direction fixedly installed three slide blocks 15, slide block 15 and guide rail 14 one_to_one corresponding, and slide block 15
Can slide in corresponding guide rail 14, by the first motor 17, it rotates the second bearing 9, and the first motor 17 is fixedly installed and props up outside
On seat.
A kind of planetary gear assembly manipulator, also includes positioner, and positioner includes locating support 8, spring 6 and lives
Motion block 5, is sequentially provided with movable block 5 and locating support 8 outside the gear teeth of planetary gear 1, locating support 8 is fixedly installed on outer support
On 18, spring 6 press-fits between movable block 5 and locating support 8, and movable block 5 is setting towards a forequarter of planetary gear 1 is fixing
Having locating dowel 51, movable block 5 is being provided with the first inclined plane towards the rear portion, side of planetary gear 1, and the first bearing 7 front end is provided with ring
Shape is taken over a business, and the outer circumference surface that annular is taken over a business is the angled circumferential face matched with the first inclined plane, by the first bearing 7 along work
The axis direction of Moving plate 12 moves, thus drives locating dowel 51 moving radially along planetary gear 1.
The work process of the planetary gear assembly manipulator that the present embodiment provides is as follows:
Starter motor mechanical arm 19, moves to above planetary gear 1 to be captured, the second motor 22 carry through mechanical arm 19 arm
Dynamic outer support 18 rotates, consistent to ensure to capture plane residing for angle and planetary gear 1.Flexible drive by the second cylinder 16
The movement of the first bearing 7 so that handgrip moves to planetary gear 1, by the shifting of the flexible drive movable disk 12 of the first cylinder 13
Dynamic, thus drive relatively rotating of first connecting rod 11 and the first sub-connecting rod 2, thus realize the opening and closing process of handgrip.First
Seat 7 is while outwards linear motion, by movable block 5 upwards jack-up, after handgrip moves on to planetary gear 1 axis hole center,
Moved by the first cylinder 13 and drive relatively rotating of first connecting rod 11 and the first sub-connecting rod 2, thus realize opening of handgrip
Process.Rotary press head 4 contacts with planetary gear 1 hole wall, and the crawl being realized planetary gear 1 by compression is fixed.By second
After certain distance regained by flexible drive first bearing 7 of cylinder 16, spring 6 drives movable block 5 to move to planetary gear 1, movable
The locating dowel 51 of block 5 withstands planetary gear 1 flank of tooth.After withdrawal process completes, the first motor 17 drives the second bearing 9 to turn at a slow speed
Dynamic, thus drive the rotation of planetary gear 1, when the teeth groove of planetary gear 1 forwards to locating dowel 51 position consistency, due to spring
The driving of 6 makes the locating dowel 51 of movable block 5 withstand the teeth groove of planetary gear 1, thus stops the first motor 17 to rotate, by
The load feedback of one motor 17 controls the first motor 17 and stops operating, and now the teeth groove symmetrical centre face of planetary gear 1 is with fixed
The central shaft of position post 51 overlaps, and control system record planetary gear 1 is in initial position.By the mobile drive row of mechanical arm 19
Star gear 1 moves to the top of planet carrier 24 to be installed.When fixed annulus 23 and planet carrier 24, it is ensured that the first of planet carrier 24
Planet axis is installed be centrally located on internal gear 23 a certain gear teeth symmetrical centre face, and label orientation.Rotation by the first motor 17
Turn and ensure that locating support 8 plane of symmetry is consistent with label orientation, now ensure that first planetary gear 1 is in tram.Logical
Crossing the flexible of the second cylinder 16 to be positioned on the planet wheel spindle of planet carrier 24 by planetary gear 1, planetary gear 1 is also pushed by alignment
After planet wheel spindle one segment distance of planet carrier 24, by the movement of the flexible drive movable disk 12 of the first cylinder 13, thus drive
Relatively rotating of first connecting rod 11 and the first sub-connecting rod 2, thus realize the condensation of handgrip, thus put down planetary gear 1.Pass through
Flexible and mechanical arm 19 the linkage of the second cylinder 16 makes handgrip leave planetary gear 1.Second and other row are installed
During star gear 1, calculate relevant position corner by control system, and make planetary gear 1 turn by the rotation of the first motor 17
To correct position, equally place planetary gear 1 with installing first planetary gear 1.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (8)
1. a planetary gear assembly manipulator, it is characterised in that: include fixed disk and the movable disk be arrangeding in parallel, described activity
Along the circumferential direction it is evenly arranged with at least two first connecting rod on dish, described fixed disk is evenly arranged with and described first connecting rod
Corresponding second connecting rod, described second connecting rod is made up of the sub-connecting rod of fix connection first and the second sub-connecting rod, and described first
The angle that sub-connecting rod and the second sub-connecting rod are formed is the first angle, and described first angle is more than 0 ° less than 180 °, and described second even
Bar is rotatably connected on described fixed disk, and described first sub-connecting rod and the second sub-connecting rod stretch out the two of described fixed disk respectively
Side, one end of described first connecting rod is rotatably connected in movable disk, other end connecting rod with the first of corresponding second connecting rod turns
It is dynamically connected；Described fixed disk is fixedly installed on the first bearing, and described movable disk drives it along institute by the first drive mechanism
State movable disk axis direction to move back and forth, thus drive the front end opening and closing of described second sub-connecting rod, to realize planet tooth
The clamping of wheel, described first drive mechanism is fixedly installed on described first bearing, and described first bearing is by the second driving machine
Structure drives it along described movable disk axis direction and moves back and forth, and described second drive mechanism is fixedly installed on the second bearing,
Described second bearing front end is fixed with at least two guide rail forward extended out, and described guide rail is positioned at the periphery of described first bearing
And the length direction of described guide rail is parallel with the axis direction of described movable disk, described first bearing outer surface is along the circumferential direction solid
Surely it is provided with at least two slide block, described slide block and described guide rail one_to_one corresponding, and described slide block can be at corresponding described guide rail
Interior slip, described second bearing drives it to rotate by the 3rd drive mechanism.
2. a kind of planetary gear assembly manipulator as claimed in claim 1, it is characterised in that: also include positioner, described
Positioner includes locating support, spring and movable block, is sequentially provided with movable block and location outside the described planetary gear teeth
Support, described pressure mounting of the spring is between described movable block and described locating support, and described movable block is towards described planetary gear
A forequarter be fixed with locating dowel, described movable block is being provided with the first inclination towards rear portion, described planetary side
Face, described first bearing front end is provided with annular and takes over a business, and the outer circumference surface that described annular is taken over a business is for match with described first inclined plane
The angled circumferential face closed, is moved along the axis direction of described movable disk by described first bearing, thus drives described location
Post planetary moves radially along described.
3. a kind of planetary gear assembly manipulator as claimed in claim 1, it is characterised in that: outside described second sub-connecting rod front end
Side rotates and is provided with rotary press head, and the lateral surface of described rotary press head is that work surface and described work surface can be with described planetary gears
Inner hole wall fits compression.
4. planetary gear assembly manipulator as claimed in claim 1 a kind of, it is characterised in that: described first drive mechanism and the
Two drive mechanisms are cylinder.
5. a kind of planetary gear assembly manipulator as claimed in claim 1, it is characterised in that: described 3rd drive mechanism is electricity
Machine.
6. planetary gear assembly manipulator as claimed in claim 2 a kind of, it is characterised in that: also include outer support, described the
Three drive mechanisms are fixedly installed on described outer support, and described second bearing is rotated by bearing and is arranged in described outer support,
Described positioning support is fixedly installed on described outer support.
7. a kind of planetary gear assembly manipulator as claimed in claim 1, it is characterised in that: circumferentially square in described movable disk
To being evenly arranged with three first connecting rods.
8. a kind of planetary gear assembly manipulator as claimed in claim 1, it is characterised in that: described second bearing front end is fixed
It is provided with three guide rails forward extended out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620732722.0U CN205745210U (en) | 2016-07-12 | 2016-07-12 | A kind of planetary gear assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620732722.0U CN205745210U (en) | 2016-07-12 | 2016-07-12 | A kind of planetary gear assembly manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205745210U true CN205745210U (en) | 2016-11-30 |
Family
ID=57377466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620732722.0U Withdrawn - After Issue CN205745210U (en) | 2016-07-12 | 2016-07-12 | A kind of planetary gear assembly manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205745210U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015528A (en) * | 2016-07-12 | 2016-10-12 | 合肥工业大学 | Planet gear assembly manipulator |
| CN107139005A (en) * | 2017-05-19 | 2017-09-08 | 常州轻工职业技术学院 | Lathe grabbing device |
| CN108190498A (en) * | 2018-01-24 | 2018-06-22 | 郑存伟 | A kind of pole formula air brushing terrine mobile device |
| CN110695687A (en) * | 2019-10-18 | 2020-01-17 | 张运杰 | Planetary gear installation device of speed reducer |
-
2016
- 2016-07-12 CN CN201620732722.0U patent/CN205745210U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015528A (en) * | 2016-07-12 | 2016-10-12 | 合肥工业大学 | Planet gear assembly manipulator |
| CN106015528B (en) * | 2016-07-12 | 2018-02-06 | 合肥工业大学 | A kind of planetary gear assembly manipulator |
| CN107139005A (en) * | 2017-05-19 | 2017-09-08 | 常州轻工职业技术学院 | Lathe grabbing device |
| CN108190498A (en) * | 2018-01-24 | 2018-06-22 | 郑存伟 | A kind of pole formula air brushing terrine mobile device |
| CN110695687A (en) * | 2019-10-18 | 2020-01-17 | 张运杰 | Planetary gear installation device of speed reducer |
| CN110695687B (en) * | 2019-10-18 | 2021-07-30 | 浙江康明斯机械有限公司 | Planetary gear installation device of speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161130 Effective date of abandoning: 20180206 |
|
| AV01 | Patent right actively abandoned |