TWI552827B - Stacked gearbox assembly apparatus - Google Patents
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- TWI552827B TWI552827B TW102145746A TW102145746A TWI552827B TW I552827 B TWI552827 B TW I552827B TW 102145746 A TW102145746 A TW 102145746A TW 102145746 A TW102145746 A TW 102145746A TW I552827 B TWI552827 B TW I552827B
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Description
本發明係關於一種自動化組裝零件的設備，尤其是一種可自動化組裝層疊式齒輪箱之層疊式齒輪箱組裝設備。 The present invention relates to an apparatus for automatically assembling parts, and more particularly to a stacked gear box assembly apparatus that can automatically assemble a stacked gear box.
在機械裝置中，時常可見層疊式的齒輪箱結構，例如減速機、或整合馬達定子、轉子及行星式齒輪組等構件所組裝成的馬達模組。然而，綜觀目前的自動化組裝設備，都僅限於平面結構之單一元件組裝，無法適用於層疊式結構的組裝，故只能仰賴人工組裝的方法來完成之。 In mechanical devices, a stacked gearbox structure, such as a reducer or a motor module assembled with components such as a motor stator, a rotor, and a planetary gear set, is often seen. However, the current automated assembly equipment is limited to the single component assembly of the planar structure, and cannot be applied to the assembly of the stacked structure, so it can only be done by means of manual assembly.
惟，層疊式齒輪箱之零件繁多，其中至少包含有一內齒輪、一主傳動盤組、數個傳動齒盤、數個墊片及數個齒輪，使得人工組裝之效率不佳，完成一個層疊式齒輪箱之組裝至少都需花費五分鐘以上的時間。再者，層疊式齒輪箱中，每一層約設有三個或三個以上的齒輪，且設於不同層的齒輪通常又具有不同尺寸，因此組裝人員若無法維持聚精會神，就容易發生組裝失誤而需拆卸再重新組裝的情況，從而嚴重地影響層疊式齒輪箱之組裝效率。 However, the cascading gearbox has many parts, including at least one internal gear, one main drive plate set, several drive sprocket wheels, several shims and several gears, which makes the manual assembly less efficient and completes a cascading type. It takes at least five minutes for the assembly of the gearbox to take place. Furthermore, in the stacked gear box, there are about three or more gears in each layer, and the gears disposed in different layers usually have different sizes, so if the assembler cannot maintain the concentration, it is easy to be assembled. Disassembly and reassembly, which seriously affects the assembly efficiency of the stacked gearbox.
本發明之目的係提供一種層疊式齒輪箱組裝設備，可自動化地完成層疊式齒輪箱之組裝，以提升組裝效率。 SUMMARY OF THE INVENTION It is an object of the present invention to provide a stacked gearbox assembly apparatus that can automatically assemble a stacked gearbox to improve assembly efficiency.
本發明之次一目的係提供一種層疊式齒輪箱組裝設備，可藉由自動化的機械設備進行層疊式齒輪箱組之組裝，以有效避免發生組裝失 誤而需拆卸再重新組裝的情況。 A second object of the present invention is to provide a stacked gear box assembly apparatus capable of assembling a stacked gear box group by automated mechanical equipment to effectively avoid assembly loss. In case of mistake, it needs to be disassembled and reassembled.
為達到前述目的，本發明所運用之技術內容包含有：一種層疊式齒輪箱組裝設備，包含：一基座；一對位模組，具有設於該基座的一對位平台，該對位平台具有一載盤，該載盤上設有一升降組件及一組裝台，且該組裝台設有一貫穿部；一移行模組，設於該基座；一取像模組，具有一第一取像器及一第二取像器，該第一取像器設於該基座，該第二取像器設於移行模組以由該移行模組帶動至與該組裝台相對；一夾具組件，設於移行模組，以由該移行模組帶動至與該第一取像器相對或與該組裝台相對；及一位置調整組件，具有一轉軸、一摩擦輪及一感測器，該轉軸具有一第一端及一第二端，該轉軸由該第一端可旋轉地設於該移行模組，該摩擦輪結合於該轉軸的第二端，該感測器設於該轉軸，該轉軸可由該移行模組帶動至與該組裝台相對。 In order to achieve the foregoing objectives, the technical content of the present invention includes: a stacked gear box assembly apparatus comprising: a base; a pair of bit modules having a pair of positioning platforms disposed on the base, the alignment The platform has a loading tray, and the loading tray is provided with a lifting assembly and an assembly station, and the assembly platform is provided with a penetration portion; a movement module is disposed on the base; and an image capturing module has a first take-up And the second image finder is disposed on the pedestal, the second image finder is disposed on the traverse module to be driven by the traverse module to be opposite to the assembly table; Provided in the transition module to be driven by the migration module to be opposite to or opposite to the first image pickup unit; and a position adjustment assembly having a rotation shaft, a friction wheel and a sensor, The rotating shaft has a first end and a second end, the rotating shaft is rotatably disposed on the moving module by the first end, the friction wheel is coupled to the second end of the rotating shaft, and the sensor is disposed on the rotating shaft The rotating shaft can be driven by the moving module to be opposite to the assembly table.
其中，該移行模組由一第一方向平移組件設於該基座，一第二方向平移組件可移動地設於該第一方向平移組件，一第三方向平移組件可移動地設於該第二方向平移組件，該第二取像器、該夾具組件及該位置調整組件均設於該第三方向平移組件。 Wherein, the transition module is disposed on the base by a first direction translation component, a second direction translation component is movably disposed on the first direction translation component, and a third direction translation component is movably disposed on the first The two-direction translation assembly, the second image finder, the clamp assembly and the position adjustment assembly are all disposed in the third direction translation assembly.
其中，該第三方向平移組件設有一組裝架，該第二取像器、該夾具組件及該轉軸分別組裝於該組裝架。 The third direction translation component is provided with an assembly frame, and the second image pickup device, the clamp assembly and the rotating shaft are respectively assembled to the assembly frame.
其中，該第一方向平移組件、第二方向平移組件及第三方向平移組件所提供的移動方向呈相互正交。 The moving directions provided by the first direction translation component, the second direction translation component, and the third direction translation component are orthogonal to each other.
其中，該第二方向平移組件帶動該第三方向平移組件在該組裝台的上方平移，該第一取像器朝上取像，該第二取像器朝下取像。 The second direction translating component drives the third direction translating component to translate above the assembly station, the first image capturing device is taken upward, and the second image capturing device is taken downward.
其中，該摩擦輪結合於該轉軸的第二端的外周面。 Wherein, the friction wheel is coupled to an outer peripheral surface of the second end of the rotating shaft.
其中，該轉軸的第二端端面在中心處設有一壓抵凸部，該壓抵凸部的最大徑寬小於層疊式齒輪箱之內齒輪的內徑。 Wherein, the second end surface of the rotating shaft is provided at the center with a pressing convex portion, and the maximum diameter of the pressing convex portion is smaller than the inner diameter of the inner gear of the laminated gear box.
其中，該升降組件設在該組裝台的內部。 Wherein, the lifting component is disposed inside the assembly station.
據此，本發明之層疊式齒輪箱組裝設備，可自動化地進行層疊式齒輪箱之組裝，以提升組裝效率；且藉由自動化的機械設備進行層疊式齒輪箱組之組裝，只要設定好夾具組件夾取層疊式齒輪箱零件的順序，即可準確無誤地選取正確的零件並依序進行組裝，能有效避免發生組裝失誤而需拆卸再重新組裝的情況。 Accordingly, the stacked gear box assembling apparatus of the present invention can automatically assemble the stacked gear box to improve assembly efficiency; and assemble the stacked gear box group by automated mechanical equipment, as long as the clamp assembly is set By arranging the order of the stacked gearbox parts, the correct parts can be accurately selected and assembled in sequence, which can effectively avoid assembly errors and need to be disassembled and reassembled.
1‧‧‧基座 1‧‧‧Base
11‧‧‧底台 11‧‧‧Abutment
12‧‧‧支撐架 12‧‧‧Support frame
2‧‧‧對位模組 2‧‧‧ alignment module
21‧‧‧對位平台 21‧‧‧ alignment platform
211‧‧‧載盤 211‧‧‧Package
22‧‧‧升降組件 22‧‧‧ Lifting components
221‧‧‧連接部 221‧‧‧Connecting Department
23‧‧‧組裝台 23‧‧‧ Assembly station
231‧‧‧貫穿部 231‧‧‧through section
3‧‧‧移行模組 3‧‧‧Transition module
31‧‧‧第一方向平移組件 31‧‧‧First direction translation assembly
32‧‧‧第二方向平移組件 32‧‧‧Second direction translation assembly
33‧‧‧第三方向平移組件 33‧‧‧Third-direction translation assembly
331‧‧‧組裝架 331‧‧‧Assembly
4‧‧‧取像模組 4‧‧‧Image capture module
41‧‧‧第一取像器 41‧‧‧First imager
42‧‧‧第二取像器 42‧‧‧second imager
5‧‧‧夾具組件 5‧‧‧Clamp assembly
6‧‧‧位置調整組件 6‧‧‧ Position adjustment components
61‧‧‧轉軸 61‧‧‧ shaft
61a‧‧‧第一端 61a‧‧‧ first end
61b‧‧‧第二端 61b‧‧‧second end
611‧‧‧壓抵凸部 611‧‧‧ pressed against the convex part
62‧‧‧摩擦輪 62‧‧‧ friction wheel
63‧‧‧感測器 63‧‧‧ Sensors
91‧‧‧主傳動盤組 91‧‧‧Main drive plate set
911‧‧‧底座 911‧‧‧Base
912‧‧‧盤體 912‧‧‧ dish
913‧‧‧軸部 913‧‧‧Axis
914‧‧‧梢件 914‧‧‧ tip
92‧‧‧內齒輪 92‧‧‧ internal gear
93‧‧‧齒輪 93‧‧‧ Gears
94‧‧‧傳動齒盤 94‧‧‧Drivering
941‧‧‧齒輪 941‧‧‧ Gears
942‧‧‧梢件 942‧‧‧Fest
第1圖：本發明一實施例的立體結構示意圖。 Fig. 1 is a perspective view showing the structure of an embodiment of the present invention.
第2圖：本發明一實施例的局部立體結構示意圖。 Fig. 2 is a partial perspective view showing an embodiment of the present invention.
第3a圖：本發明之夾具組件與第一取像器相對以供取像的實施示意圖。 Fig. 3a is a schematic view showing the implementation of the image pickup unit of the present invention with respect to the first image pickup unit.
第3b圖：本發明之第二取像器對組裝於組裝台上之層疊式齒輪箱之傳動齒盤之盤體上其中一梢件取像的實施示意圖。 Figure 3b is a schematic view showing the implementation of the image pickup of one of the discs of the drive gear of the laminated gearbox assembled on the assembly table by the second image pickup device of the present invention.
第4圖：本發明之第二取像器對組裝於組裝台上之層疊式齒輪箱之傳動齒盤之盤體中心取像的實施示意圖。 Fig. 4 is a view showing the implementation of the second image pickup of the present invention for taking the image of the center of the disk of the drive gear of the stacked gear box assembled on the assembly table.
第5圖：本發明之夾具組件夾持傳動齒盤至數個齒輪上方時的實施示意圖。 Fig. 5 is a schematic view showing the implementation of the clamp assembly of the present invention when the drive toothed disc is clamped over a plurality of gears.
第6圖：本發明之夾具組件夾持傳動齒盤至數個齒輪上方時的平面結構示意圖。 Figure 6 is a plan view showing the planar structure of the clamp assembly of the present invention when the drive toothed disc is clamped over a plurality of gears.
第7圖：本發明之傳動齒盤的齒輪與結合於該盤體之其中一齒輪，以一齒局部嚙合的平面結構示意圖。 Figure 7 is a schematic plan view showing the gear of the transmission toothed disc of the present invention and a gear coupled to one of the disc bodies, partially engaged by a tooth.
第8圖：本發明之摩擦輪沿該盤體外緣繞一圈，以依序摩擦結合於盤體之數個齒輪的實施示意圖。 Fig. 8 is a schematic view showing the implementation of the friction wheel of the present invention which is wound around the outer edge of the disk to frictionally couple the plurality of gears coupled to the disk.
第9圖：本發明結合於盤體之數個齒輪卡在內齒輪端面而無法順利地 下降時，位置調整組件之轉軸受控制產生軸向轉動的實施示意圖。 Figure 9: The invention combines several gears of the disc body on the inner gear end face and cannot smoothly When descending, the rotation axis of the position adjustment assembly is controlled to generate an axial rotation.
第10圖：本發明帶動已組裝完成的一層層疊式齒輪箱組零件下移至內齒輪中的實施示意圖。 Fig. 10 is a schematic view showing the implementation of the assembled one-piece stacked gearbox assembly moving down into the internal gear.
為讓本發明之上述及其他目的、特徵及優點能更明顯易懂，下文特舉本發明之較佳實施例，並配合所附圖式，作詳細說明如下：請參照第1圖，本發明層疊式齒輪箱組裝設備大致上包含有一基座1、一對位模組2、一移行模組3、一取像模組4、一夾具組件5及一位置調整組件6；該對位模組2及移行模組3設於該基座1，該取像模組4、夾具組件5及位置調整組件6則設於該移行模組3，以由該移行模組3帶動而相對於該基座1產生位移。 The above and other objects, features and advantages of the present invention will become more <RTIgt; The stacked gear box assembly apparatus generally includes a base 1, a pair of bit modules 2, a moving module 3, an image capturing module 4, a clamp assembly 5 and a position adjusting component 6; the alignment module The moving module 3 is disposed on the base 1 , and the image capturing module 4 , the clamp assembly 5 and the position adjusting component 6 are disposed on the moving module 3 to be driven by the moving module 3 relative to the base Seat 1 produces displacement.
該基座1係用以供構件組裝定位；在本實施例中，該基座1包含一底台11及一支撐架12，該支撐架12設於該底台11的一表面，以由該底台11及支撐架12共同使構件在平面或立體空間中都能穩固組裝定位。其中，該底台11及支撐架12之形態均可視需求而予以調整，此乃本領域中具有通常知識者可以理解，而不加以限制者。 The base 1 is used for the assembly and positioning of the component. In the embodiment, the base 1 includes a base 11 and a support frame 12, and the support frame 12 is disposed on a surface of the base 11 to The base 11 and the support frame 12 together enable the components to be stably assembled and positioned in a plane or a three-dimensional space. The form of the base 11 and the support frame 12 can be adjusted according to requirements, which can be understood by those skilled in the art without limitation.
該對位模組2包含一對位平台21、一升降組件22及一組裝台23，該對位平台21組裝定位於該基座1的底台11，該對位平台21具有一載盤211，該載盤211可受控制而相對於該基座1產生位移或旋轉；在本實施例中，該對位平台21可例如為一X-Y-Y對位平台，而該對位平台21之細部結構及作動原理為本領域中具有通常知識者可以理解，於此不再詳述。另，該對位平台21並不限於X-Y-Y形式的對位平台，此為本領域中具有通常知識者可視使用需求而適當調整選用，本發明並不加以限制。 The alignment module 2 includes a pair of platform 21, a lifting assembly 22, and an assembly station 23. The alignment platform 21 is assembled and positioned on the base 11 of the base 1. The alignment platform 21 has a carrier 211. The loading plate 211 can be controlled to be displaced or rotated relative to the base 1; in the embodiment, the alignment platform 21 can be, for example, an XXY alignment platform, and the detailed structure of the alignment platform 21 and The principle of actuation is understood by those of ordinary skill in the art and will not be described in detail herein. In addition, the alignment platform 21 is not limited to the X-Y-Y format alignment platform, which is appropriately selected and selected by those skilled in the art for visual use requirements, and the present invention is not limited thereto.
請配合參照第2圖，該升降組件22及組裝台23均設於該對位平台21的載盤211上，該升降組件22具有一連接部221以供連接及帶動物件升降，該連接部221可例如為一設於該升降組件22頂部的板體；該組裝台23則是用以承載層疊式齒輪箱零件的物體，該組裝台23設有一貫穿部231(可例如為一穿孔或穿槽)，以供層疊式齒輪箱的一主傳動盤組91的軸部913穿伸，且該主傳動盤組91的軸部913與該升降組件22的連接部221連接，以由該升降組件22帶動該主傳動盤組91的軸部913及連接在該軸部另一端的盤體912相對於該組裝台23升降。 Referring to FIG. 2 , the lifting assembly 22 and the assembly table 23 are both disposed on the carrier 211 of the alignment platform 21 . The lifting assembly 22 has a connecting portion 221 for connecting and lifting the animal piece. The connecting portion 221 For example, it may be a plate body disposed on the top of the lifting assembly 22; the assembly table 23 is an object for carrying the components of the stacked gear box, and the assembly table 23 is provided with a through portion 231 (for example, a perforation or a slot The shaft portion 913 of a main drive plate group 91 of the stacked gear box is extended, and the shaft portion 913 of the main drive plate group 91 is connected with the connecting portion 221 of the lifting assembly 22 to be used by the lifting assembly 22 The shaft portion 913 that drives the main drive plate group 91 and the disk body 912 that is connected to the other end of the shaft portion move up and down with respect to the assembly table 23.
在本實施例中，該升降組件22可選擇設在該組裝台23的內部，使該主傳動盤組91穿伸通過該貫穿部231的軸部913能直接與該升降組件22的連接部221連接，令該主傳動盤組91能較平穩地被該升降組件22控制升降，且有效利用該組裝台23的內部空間，使該載盤211上的空間配置更具彈性，以便增加如夾具或量測裝置等其他功能性配備。 In this embodiment, the lifting assembly 22 can be selectively disposed inside the assembly table 23 such that the main transmission disk group 91 can pass through the connecting portion 221 of the lifting portion 22 through the shaft portion 913 of the through portion 231. The connection enables the main drive plate group 91 to be smoothly lifted and lowered by the lifting assembly 22, and the internal space of the assembly table 23 is effectively utilized, so that the space arrangement on the carrier plate 211 is more flexible, so as to increase the fixture or Other functional equipment such as measuring devices.
請再參照第1圖，該移行模組3包含一第一方向平移組件31、一第二方向平移組件32及一第三方向平移組件33，該第一方向平移組件31設於該基座1的支撐架12，該第二方向平移組件32可移動地設於該第一方向平移組件31，該第三方向平移組件33可移動地設於該第二方向平移組件32，以由該第二方向平移組件32帶動該第三方向平移組件33在該組裝台23的上方平移。在本實施例中，該第一方向平移組件31、第二方向平移組件32及第三方向平移組件33所提供的移動方向呈相互正交；例如，該第一方向平移組件31可帶動該第二方向平移組件32及第三方向平移組件33相對於該基座1產生Y方向之位移，該第二方向平移組件32可帶動該第三方向平移組件33相對於該基座1產生X方向之位移，該第三方向平移組件33本身可相對於該基座1產生Z方向之位移，但並不以此配置方式為限。又，該第三方向平移組件33可設有一組裝架331，以便欲由 該第三方向平移組件33帶動產生位移之構件組裝定位。 Referring to FIG. 1 again, the transition module 3 includes a first direction translation component 31, a second direction translation component 32, and a third direction translation component 33. The first direction translation component 31 is disposed on the base 1 The second direction translation assembly 32 is movably disposed on the first direction translation assembly 31, and the third direction translation assembly 33 is movably disposed on the second direction translation assembly 32 for the second The direction translation assembly 32 drives the third direction translation assembly 33 to translate over the assembly station 23. In this embodiment, the moving directions provided by the first direction translation component 31, the second direction translation component 32, and the third direction translation component 33 are orthogonal to each other; for example, the first direction translation component 31 can drive the first The two-direction translation assembly 32 and the third-direction translation assembly 33 generate a displacement in the Y direction relative to the base 1 , and the second-direction translation assembly 32 can drive the third-direction translation assembly 33 to generate an X-direction relative to the base 1 . Displacement, the third direction translation component 33 itself can generate a displacement in the Z direction with respect to the base 1, but is not limited by this configuration. Moreover, the third direction translation component 33 can be provided with an assembly frame 331 so as to be The third direction translation assembly 33 drives the component assembly position that produces displacement.
該取像模組4包含一第一取像器41及一第二取像器42，該第一取像器41及第二取像器42均可以為一電荷耦合器(charge-coupled device，一般簡稱CCD)。在本實施例中，該第一取像器41設於該基座1的底台11，且較佳與該對位平台21相鄰，該第一取像器41朝上取像，以於該夾具組件5與該第一取像器41相對時，由該第一取像器41拍攝及辨識該夾具組件5所夾取的層疊式齒輪箱零件；該第二取像器42設於該第三方向平移組件33的組裝架331，該第二取像器42朝下取像，以於該第二取像器42與該組裝台23相對時，由該第二取像器42拍攝及辨識已組裝在該組裝台23上的層疊式齒輪箱零件的位置。 The image capturing module 4 includes a first image capturing device 41 and a second image capturing device 42. The first image capturing device 41 and the second image capturing device 42 can each be a charge-coupled device. Generally referred to as CCD). In this embodiment, the first image finder 41 is disposed on the bottom platform 11 of the susceptor 1 and is preferably adjacent to the alignment platform 21, and the first image finder 41 is imaged upwards. When the clamp assembly 5 is opposite to the first image capture unit 41, the first image pickup unit 41 captures and recognizes the stacked gear box components captured by the clamp assembly 5; the second image pickup unit 42 is disposed at the same The assembly 331 of the third direction translation assembly 33, the second image finder 42 is taken downward, and when the second image finder 42 is opposite to the assembly table 23, the second image finder 42 is used to capture The position of the stacked gearbox components that have been assembled on the assembly station 23 is identified.
該夾具組件5設於該第三方向平移組件33的組裝架331，以由該第三方向平移組件33帶動而相對於該基座1產生位移；該夾具組件5係用以向一儲料盒(圖未繪示)夾取層疊式齒輪箱之零件，並將所夾取的夾取層疊式齒輪箱零件移至該組裝台23上進行組裝。 The clamp assembly 5 is disposed on the assembly frame 331 of the third direction translation assembly 33 to be displaced by the third direction translation assembly 33 relative to the base 1; the clamp assembly 5 is used to feed a storage box (not shown) The components of the stacked gear box are clamped, and the clamped stacked gear box components are moved to the assembly table 23 for assembly.
請配合參照第2圖，該位置調整組件6包含一轉軸61、一摩擦輪62及一感測器63；該轉軸61具有一第一端61a及一第二端61b，該轉軸61由第一端61a可旋轉地設於該第三方向平移組件33的組裝架331，該轉軸61的第二端61b端面可以在中心處設有一壓抵凸部611，該壓抵凸部611的最大徑寬小於層疊式齒輪箱之內齒輪92的內徑。該摩擦輪62結合於該轉軸61的第二端61b的外周面，該摩擦輪62可以由摩擦係數較高且具有彈性之材質(例如橡膠)製成，以於摩擦齒輪時能帶動齒輪轉動。該感測器63設於該轉軸61，用以感測該轉軸61的軸向受力情況，該感測器63可例如為一壓力感測器。 Referring to FIG. 2, the position adjusting component 6 includes a rotating shaft 61, a friction wheel 62 and a sensor 63. The rotating shaft 61 has a first end 61a and a second end 61b. The rotating shaft 61 is first. The end 61a is rotatably disposed on the assembly frame 331 of the third direction translating assembly 33. The end surface of the second end 61b of the rotating shaft 61 can be provided with a pressing convex portion 611 at the center, and the maximum diameter and width of the pressing convex portion 611 It is smaller than the inner diameter of the inner gear 92 of the stacked gear box. The friction wheel 62 is coupled to the outer peripheral surface of the second end 61b of the rotating shaft 61. The friction wheel 62 can be made of a material having a high coefficient of friction and elasticity (for example, rubber) to drive the gear to rotate when the gear is friction. The sensor 63 is disposed on the rotating shaft 61 for sensing the axial force of the rotating shaft 61. The sensor 63 can be, for example, a pressure sensor.
據由前述結構，本發明之層疊式齒輪箱組裝設備可用以組裝一層疊式齒輪箱。請參照第1、3a圖，該夾具組件5首先夾取該層疊式齒 輪箱的一主傳動盤組91的底座911，並藉該移行模組3之帶動將該底座911移至該組裝台23上的預設位置；續以相同動作將該主傳動盤組91的盤體912移至該組裝台23上，使與該盤體912相連接的軸部913穿伸通過該底座911及該組裝台23的貫穿部231，並使該主傳動盤組91的軸部913與該升降組件22的連接部221連接；再以相同動作將該層疊式齒輪箱的一內齒輪92移至該組裝台23上，並使該內齒輪92疊置於該底座911上，及使該盤體912位於該內齒輪92中。其中，也可以先將該內齒輪92疊置於該底座911上，再將該軸部913穿伸通過該內齒輪92、該底座911及該組裝台23的貫穿部231，使該盤體912位於該內齒輪92中。 According to the foregoing structure, the stacked gear box assembling apparatus of the present invention can be used to assemble a stacked gear box. Referring to Figures 1 and 3a, the clamp assembly 5 first grips the stacked teeth. a base 911 of a main drive plate set 91 of the wheel box, and by the transfer module 3, the base 911 is moved to a preset position on the assembly table 23; and the main drive plate group 91 is continued by the same action. The disk body 912 is moved to the assembly table 23, and the shaft portion 913 connected to the disk body 912 is passed through the base portion 911 and the through portion 231 of the assembly table 23, and the shaft portion of the main transmission disk group 91 is made. 913 is connected to the connecting portion 221 of the lifting assembly 22; and an internal gear 92 of the stacked gear box is moved to the assembly table 23 by the same action, and the internal gear 92 is stacked on the base 911, and The disk 912 is placed in the internal gear 92. The inner gear 92 may be stacked on the base 911, and the shaft portion 913 may be passed through the inner gear 92, the base 911, and the through portion 231 of the assembly base 23 to make the disk 912. Located in the internal gear 92.
接著，啟動該升降組件22，由該升降組件22的連接部221帶動該主傳動盤組91的局部上升，由該主傳動盤組91的軸部913頂推該盤體912在該內齒輪92中上升，直至該盤體912表面的數個梢件914凸伸超出該內齒輪92的端面。 Then, the lifting assembly 22 is activated, and the connecting portion 221 of the lifting assembly 22 drives the partial rise of the main transmission disk group 91. The shaft portion 913 of the main transmission disk group 91 pushes the disk body 912 at the internal gear 92. The middle rises until a plurality of tips 914 on the surface of the disk 912 protrude beyond the end faces of the internal gear 92.
續由該夾具組件5夾取一齒輪93，並藉該移行模組3之帶動，使該夾具組件5移至與該第一取像器41相對的位置，由該第一取像器41拍攝及辨識該齒輪93的軸心位置。 The gear assembly 93 is continuously gripped by the clamp assembly 5, and the movement of the movement module 3 is used to move the clamp assembly 5 to a position opposite to the first image pickup unit 41, and the first image pickup unit 41 is photographed. And identifying the axial position of the gear 93.
請參照第1、3b圖，該第二取像器42藉該移行模組3之帶動而移至與該組裝台23相對的位置，由該第二取像器42拍攝及辨識該盤體912表面之其中一梢件914的位置，使該對位平台21控制其載盤211相對於該基座1產生位移或旋轉，以將該梢件914移至該夾具組件5移動的行程中，配合控制該移行模組3移動該夾具組件5，使該夾具組件5所夾持的齒輪93能夠精準地套合於對應之梢件914。其中，也可以是先由該第二取像器42取得梢件914的位置資訊，再由該第一取像器41取得齒輪93的軸心位置資訊。 Referring to the first and third views, the second image finder 42 is moved to the position opposite to the assembly table 23 by the movement module 3, and the second image finder 42 captures and recognizes the disk 912. The position of one of the surface members 914 causes the alignment platform 21 to control the displacement or rotation of its carrier 211 relative to the base 1 to move the tip member 914 into the travel of the clamp assembly 5, in cooperation The moving module 3 is controlled to move the clamp assembly 5 so that the gear 93 clamped by the clamp assembly 5 can be accurately fitted to the corresponding tip 914. In this case, the position information of the tip 914 may be acquired by the second image capture unit 42 first, and the axial position information of the gear 93 may be acquired by the first imager 41.
請參照第1、4、5、6圖，該盤體912表面的數個梢件914分 別組裝有一齒輪93後，接著可組裝該層疊式齒輪箱的一傳動齒盤94，該傳動齒盤94的一表面設有一齒輪941，另一表面則設有數個梢件942。該夾具組件5可夾取該傳動齒盤94，並使該傳動齒盤94的齒輪941朝下；該第二取像器42則改為拍攝及辨識該盤體912表面之中心位置，以精準控制該對位平台21及該移行模組3，將該夾具組件5所夾持的傳動齒盤94置放在結合於該盤體912之數個齒輪93上方，並使該傳動齒盤94的齒輪941對位於該數個齒輪93之間的空間。 Please refer to Figures 1, 4, 5, and 6, the number of tips 914 on the surface of the disk 912 After a gear 93 is assembled, a drive toothed disk 94 of the stacked gear case can be assembled. One surface of the drive toothed disk 94 is provided with a gear 941, and the other surface is provided with a plurality of tip pieces 942. The clamp assembly 5 can grip the transmission toothed disk 94 and make the gear 941 of the transmission toothed disk 94 face downward; the second imager 42 can capture and recognize the center position of the surface of the disk body 912 to accurately The alignment platform 21 and the transition module 3 are controlled, and the transmission toothed disk 94 clamped by the clamp assembly 5 is placed above the plurality of gears 93 coupled to the disk body 912, and the transmission toothed disk 94 is The gear 941 is located in a space between the plurality of gears 93.
請參照第1、7圖，此時，由於該傳動齒盤94的齒輪941並無法直接同時地與結合於該盤體912之數個齒輪93嚙合，故需由該移行模組3控制該轉軸61由第二端61b端面抵接該傳動齒盤94(該轉軸61設有該壓抵凸部611時，則由該壓抵凸部611抵接該傳動齒盤94)，使該傳動齒盤94的齒輪941與其中一齒輪93之一齒局部嚙合，而該傳動齒盤94將因齒輪941只與齒輪93之一齒嚙合而呈傾斜狀。 Please refer to the first and seventh figures. At this time, since the gear 941 of the transmission toothed disk 94 cannot directly mesh with the plurality of gears 93 coupled to the disk body 912 at the same time, the rotation axis module 3 is required to control the rotation shaft. 61. The end surface of the second end 61b abuts against the transmission toothed disc 94 (when the rotating shaft 61 is provided with the pressing convex portion 611, the pressing convex portion 611 abuts the transmission toothed disc 94), so that the transmission toothed disc The gear 941 of 94 is partially meshed with one of the teeth of one of the gears 93, and the drive toothed disk 94 will be inclined as the gear 941 meshes only with one of the gears 93.
另，該轉軸61由第二端61b端面抵接該傳動齒盤94後，該移行模組3還可帶動該轉軸61產生X-Y平面之位移，以該盤體912表面之中心位置為出發點，朝任一方向位移一微距(例如1mm)，再回到中心位置，再朝另一方向位移一微距，如此反覆數次，提供類似搖動該傳動齒盤94的效果，使該傳動齒盤94的齒輪941得以增加與該齒輪93之一齒局部嚙合的面積。較佳地，還可配合由該移行模組3帶動該轉軸61產生Z方向之往復位移，由該轉軸61的第二端61b端面(或該壓抵凸部611)壓抵該傳動齒盤94，使該傳動齒盤94的齒輪941與局部嚙合之齒輪93卡得更緊。 In addition, after the rotating shaft 61 abuts the driving toothed disk 94 from the end surface of the second end 61b, the moving module 3 can also drive the rotating shaft 61 to generate the displacement of the XY plane, starting from the center position of the surface of the disk 912, toward Displacement in one direction by a macro (for example, 1 mm), returning to the center position, and then shifting to a macro in the other direction, so that it is repeated several times, providing an effect similar to shaking the transmission toothed disk 94, so that the transmission toothed disk 94 The gear 941 is increased in area that is partially meshed with one of the teeth of the gear 93. Preferably, the reciprocating displacement of the rotating shaft 61 is generated by the transition module 3, and the end surface of the second end 61b of the rotating shaft 61 (or the pressing convex portion 611) is pressed against the transmission toothed disc 94. The gear 941 of the drive toothed disk 94 is more tightly engaged with the partially meshing gear 93.
請參照第1、8圖，續由該移行模組3帶動該轉軸61離開該傳動齒盤94的表面，而由該摩擦輪62沿著該盤體912的外緣繞一圈，以依序摩擦該數個齒輪93；其中，由於該摩擦輪62係由摩擦係數較高且具 有彈性之材質製成，因此該摩擦輪62接觸到該齒輪93時，移動中的該摩擦輪62可對所接觸之齒輪93提供一切線方向的推力，以推動該齒輪93相對於對應之梢件914轉動。如此一來，在該摩擦輪62依序帶動該數個齒輪93轉動後，該傳動齒盤94的齒輪941即可順勢進入該數個齒輪93之間的空間，並同時與該數個齒輪93嚙合。 Referring to FIGS. 1 and 8 , the revolving module 3 is driven to move away from the surface of the transmission toothed disc 94 , and the friction wheel 62 is wound along the outer edge of the disc body 912 in order. Rubbing the plurality of gears 93; wherein the friction wheel 62 has a high coefficient of friction and has The elastic material is made, so when the friction wheel 62 contacts the gear 93, the moving friction wheel 62 can provide a thrust in the direction of the line to the contact gear 93 to push the gear 93 relative to the corresponding tip. Piece 914 rotates. In this way, after the friction wheel 62 sequentially drives the plurality of gears 93 to rotate, the gear 941 of the transmission toothed disk 94 can enter the space between the plurality of gears 93 and simultaneously with the plurality of gears 93. Engage.
請參照第1、9圖，該傳動齒盤94的齒輪941同時與該數個齒輪93穩固嚙合後，該移行模組3可帶動該轉軸61移至該傳動齒盤94的上方，並由該轉軸61的第二端61b端面(或該壓抵凸部611)抵接該傳動齒盤94。續由該移行模組3帶動該轉軸61產生Z方向的位移，及同時由該升降組件22帶動該主傳動盤組91的軸部913及盤體912產生同步的下降。在下降的過程中，若組裝在該盤體912的數個齒輪93無法剛好與該內齒輪92嚙合，該主傳動盤組91的盤體912則無法順利地下降，而會卡在該內齒輪92的端面處；此時，設於該轉軸61的感測器63可感測到該轉軸61的軸向受力增加，使該轉軸61受控制而產生軸向轉動，連動該傳動齒盤94的齒輪941轉動，再連動該數個齒輪93同步轉動，直至該數個齒輪93能與該內齒輪92嚙合為止。另一方面，該轉軸61受控制而產生軸向轉動時，該升降組件22將停止帶動該主傳動盤組91的軸部913及盤體912下降。 Referring to FIGS. 1 and 9 , after the gear 941 of the transmission toothed disk 94 is stably engaged with the plurality of gears 93 , the travel module 3 can drive the rotating shaft 61 to move above the transmission toothed disk 94 , and The end surface of the second end 61b of the rotating shaft 61 (or the pressing convex portion 611) abuts against the transmission toothed disc 94. The rotation of the shaft 61 by the movement module 3 is continued to generate a displacement in the Z direction, and at the same time, the shaft portion 913 and the disk body 912 of the main transmission disk group 91 are driven to descend synchronously by the lifting assembly 22. In the process of descending, if a plurality of gears 93 assembled in the disk body 912 cannot just mesh with the internal gear 92, the disk body 912 of the main drive disk group 91 cannot be smoothly lowered, and the internal gear is caught. At this time, the sensor 63 provided on the rotating shaft 61 can sense the axial force increase of the rotating shaft 61, so that the rotating shaft 61 is controlled to generate axial rotation, and the transmission toothed disk 94 is interlocked. The gear 941 is rotated, and the plurality of gears 93 are synchronously rotated until the plurality of gears 93 can mesh with the internal gear 92. On the other hand, when the rotating shaft 61 is controlled to generate axial rotation, the lifting and lowering unit 22 stops the shaft portion 913 of the main driving disk group 91 and the disk body 912 from being lowered.
請參照第1、10圖，該數個齒輪93能與該內齒輪92嚙合時，該感測器63將感測到該轉軸61的軸向受力小於預設值，使該轉軸61受控制而停止軸向轉動；藉由該轉軸61之Z向位移，及恢復該升降組件22帶動該主傳動盤組91的軸部913及盤體912產生同步的下降，使得該層疊式齒輪箱組已組裝完成的一層得以下移至該內齒輪92中，並維持設於該傳動齒盤94另一表面的數個梢件942凸伸超出該內齒輪92的端面，以供組裝另外的數個齒輪(圖未繪示)。如此一來，經反覆進行上述流程，本發明之 層疊式齒輪箱組裝設備即可自動化地完成層疊式齒輪箱之組裝。 Referring to FIGS. 1 and 10, when the plurality of gears 93 can be engaged with the internal gear 92, the sensor 63 senses that the axial force of the rotating shaft 61 is less than a preset value, so that the rotating shaft 61 is controlled. The axial rotation is stopped; the Z-direction displacement of the rotating shaft 61, and the recovery of the lifting assembly 22 to drive the shaft portion 913 of the main transmission disk group 91 and the disk body 912 to decrease synchronously, so that the stacked gear box group has been The assembled one layer is moved into the internal gear 92 below, and a plurality of tip members 942 disposed on the other surface of the transmission toothed disc 94 are protruded beyond the end surface of the internal gear 92 for assembling a plurality of other gears. (The figure is not shown). In this way, the above process is repeated, the present invention Stacked gearbox assembly equipment automates the assembly of stacked gearboxes.
綜上所述，本發明之層疊式齒輪箱組裝設備，可自動化地進行層疊式齒輪箱之組裝，僅約一分鐘左右的時間即可完成一個層疊式齒輪箱之組裝，具有提升組裝效率之功效。 In summary, the stacked gear box assembly apparatus of the present invention can automatically assemble the stacked gear box, and the assembly of a stacked gear box can be completed in about one minute or so, and the assembly efficiency can be improved. .
本發明之層疊式齒輪箱組裝設備，可藉由自動化的機械設備進行層疊式齒輪箱組之組裝，只要設定好夾具組件夾取層疊式齒輪箱零件的順序，即可準確無誤地選取正確的零件並依序進行組裝，能有效避免發生組裝失誤而需拆卸再重新組裝的情況，具有降低組裝錯誤率以避免影響組裝效率之功效。 The stacked gear box assembling device of the present invention can assemble the stacked gear box group by automated mechanical equipment, and the correct parts can be accurately selected by setting the order of the clamp assembly to take the stacked gear box parts. The assembly is performed in sequence, which can effectively avoid the assembly error and need to be disassembled and reassembled, and has the effect of reducing the assembly error rate to avoid affecting the assembly efficiency.
雖然本發明已利用上述較佳實施例揭示，然其並非用以限定本發明，任何熟習此技藝者在不脫離本發明之精神和範圍之內，相對上述實施例進行各種更動與修改仍屬本發明所保護之技術範疇，因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。 While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims.
1‧‧‧基座 1‧‧‧Base
11‧‧‧底台 11‧‧‧Abutment
12‧‧‧支撐架 12‧‧‧Support frame
2‧‧‧對位模組 2‧‧‧ alignment module
21‧‧‧對位平台 21‧‧‧ alignment platform
211‧‧‧載盤 211‧‧‧Package
22‧‧‧升降組件 22‧‧‧ Lifting components
221‧‧‧連接部 221‧‧‧Connecting Department
23‧‧‧組裝台 23‧‧‧ Assembly station
3‧‧‧移行模組 3‧‧‧Transition module
31‧‧‧第一方向平移組件 31‧‧‧First direction translation assembly
32‧‧‧第二方向平移組件 32‧‧‧Second direction translation assembly
33‧‧‧第三方向平移組件 33‧‧‧Third-direction translation assembly
331‧‧‧組裝架 331‧‧‧Assembly
4‧‧‧取像模組 4‧‧‧Image capture module
41‧‧‧第一取像器 41‧‧‧First imager
42‧‧‧第二取像器 42‧‧‧second imager
5‧‧‧夾具組件 5‧‧‧Clamp assembly
6‧‧‧位置調整組件 6‧‧‧ Position adjustment components
61‧‧‧轉軸 61‧‧‧ shaft
611‧‧‧壓抵凸部 611‧‧‧ pressed against the convex part
62‧‧‧摩擦輪 62‧‧‧ friction wheel
63‧‧‧感測器 63‧‧‧ Sensors
91‧‧‧主傳動盤組 91‧‧‧Main drive plate set
92‧‧‧內齒輪 92‧‧‧ internal gear
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102145746A TWI552827B (en) | 2013-12-11 | 2013-12-11 | Stacked gearbox assembly apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102145746A TWI552827B (en) | 2013-12-11 | 2013-12-11 | Stacked gearbox assembly apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201521938A TW201521938A (en) | 2015-06-16 |
| TWI552827B true TWI552827B (en) | 2016-10-11 |
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| Country | Link |
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| TW (1) | TWI552827B (en) |
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| CN109494943B (en) * | 2019-01-07 | 2020-12-29 | 上海锡明光电科技有限公司 | Motor rotor assembly positioning system, method, device, equipment and medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201227195A (en) * | 2010-12-22 | 2012-07-01 | Metal Ind Res & Dev Ct | An image acquisition device for the precision alignment and its module |
| CN102554611A (en) * | 2010-11-11 | 2012-07-11 | 本田技研工业株式会社 | Machine tool assembling apparatus and method of assembling machine tool using machine tool assembling apparatus |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554611A (en) * | 2010-11-11 | 2012-07-11 | 本田技研工业株式会社 | Machine tool assembling apparatus and method of assembling machine tool using machine tool assembling apparatus |
| TW201227195A (en) * | 2010-12-22 | 2012-07-01 | Metal Ind Res & Dev Ct | An image acquisition device for the precision alignment and its module |
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