CN108705308A - A kind of robot shaft coupling joint pressurizing unit - Google Patents
A kind of robot shaft coupling joint pressurizing unit Download PDFInfo
- Publication number
- CN108705308A CN108705308A CN201810904987.8A CN201810904987A CN108705308A CN 108705308 A CN108705308 A CN 108705308A CN 201810904987 A CN201810904987 A CN 201810904987A CN 108705308 A CN108705308 A CN 108705308A
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- CN
- China
- Prior art keywords
- pressurizing unit
- slide
- shaft coupling
- coupling joint
- cylinder
- 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.)
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- 230000008878 coupling Effects 0.000 title claims abstract description 15
- 238000010168 coupling process Methods 0.000 title claims abstract description 15
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 15
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 230000001050 lubricating effect Effects 0.000 abstract description 17
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910021389 graphene Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot shaft coupling joint pressurizing units, including fixed seat, are equipped with device for filling B, pressurizing unit for installing connection cylinder successively in fixed seat.The present invention first passes through filling device and installs the ball head bit inversion for connecting cylinder, then the shape by pressurizing unit according to stress spherical, lubricating sleeve, connection shell and connection cylinder three are secured together, it is efficiently convenient, exempt the defect that conventional housings are brought using fastened by screw when mounted, promotes the efficiency of manufacture.
Description
Technical field
The present invention relates to the technical fields of robot, especially a kind of robot shaft coupling joint pressurizing unit.
Background technology
In well known technical field, plane articulation robot is generally by least three rotary shafts parallel to each other, rotation
It is mutually parallel between the cross section of axis.Main application fields have loading, unloading, welding, packaging, fixation, coating, spray painting, bonding,
Encapsulation, extraordinary carry operate, assemble etc..The rotation axis joint of robot is more, and the space and range of operation are bigger, but this
When whole projecting end dead weight and the torque needed for operation or other load, the joint of rotary shaft can be caused serious negative
Load, the precision of required assembly, the intensity of material and other processing requests are higher, it will greatly increase the cost of manufacture
The cost subsequently overhauled also is unfavorable for expanding more rotary shafts.Simultaneously plane articulation robot routine use occasion,
It is general to be mainly used for loading article, it needs to bear certain impact and vibrations, traditional robot joint structure is to heavy load
Ability to bear it is bad, the rigidity to entire mechanical mechanism is a kind of greatly challenge.
A kind of device of robot shaft coupling joint as disclosed in Figure of description 1 is needed 2 company of being embedded in of lubricating sleeve
It in body contact body 3, while connecting cylinder 1 and needing to be embedded in lubricating sleeve 2, while needing three being sealed well, pass
The device of system does not have good adaptability, and according to artificial manufacture, efficiency is more low, and particularly critical is asking for process setting
Topic needs to solve the problems, such as that the bulb end of connection cylinder 1 is mounted.
Invention content
The technical problem to be solved by the present invention is to：Overcome the above problem, a kind of robot shaft coupling joint is provided and squeezes dress
It sets, can efficiently complete the installation of two shell structures and sphere structure, smoothly solve the bulb end limit of connection cylinder
The problem of installation.
The technical solution adopted by the present invention to solve the technical problems is：A kind of robot shaft coupling joint pressurizing unit,
Including fixed seat, it is equipped with device for filling B, the pressurizing unit for installing connection cylinder successively in fixed seat.
Further, as a kind of specific embodiment, heretofore described device for filling B have feeding track B and
Mounting assembly is overturn, the feeding track B has three horizontally disposed guide rods, and the cross section of the guide rod is in vertical side
It is distributed upwards in isoceles triangle shape, and wherein two guide rods are located at same level, a remaining guide rod is led positioned at two
To the top of horizontal plane where bar, the overturning mounting assembly has can back and forth be moved back and forth along the extension direction of guide rod the
One slide is equipped in the first slide and keeps vertical second slide with the moving direction of first slide, described second
Slide is equipped with the third slide that can vertically move back and forth back and forth, is equipped on the third slide and stretches in the horizontal direction
Go out and rotatable mechanical gripper.
Further, guide rod is fallen when not operating in order to prevent, and two that same level is located in the present invention lead
The end tilted obliquely is equipped with to the end of bar.
Further, as a kind of specific embodiment, heretofore described pressurizing unit has the square of fixed setting
Shape skeleton frame is fixed with cylinder beam barrel in the lower part of the rectangle skeleton frame, intermediolateral column is slidably fitted in the cylinder beam barrel,
It is fixedly connected with the connecting pole by Driven by Hydraulic Cylinder in the upper end of the intermediolateral column, is equipped with vertically on the connecting pole
Perforative evacuation chamber, is rotatablely equipped with outer turning set in the intermediolateral column, embedding by being keyed in the outer turning set
It is cased with drive shaft, the upper end of the drive shaft extends into evacuation chamber and is connected with driving motor by belt wheel,
The lower end of the outer turning set is equipped with compression assemblies, and there is the compression assemblies central axis of turning set other than at least three to be
The limit sheet body of center rotary setting is equipped with crushing block, each at the center in the region that the limit sheet body surrounds and constitutes
It limits and is equipped with squeezing roller between sheet body and crushing block.
The beneficial effects of the invention are as follows：The present invention first passes through filling device and installs the ball head bit inversion for connecting cylinder,
Lubricating sleeve, connection shell and connection cylinder three are fixed to one by the then shape by pressurizing unit according to stress spherical
It rises, it is efficiently convenient, exempt the defect that conventional housings are brought using fastened by screw when mounted, promotes the efficiency of manufacture.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of structural schematic diagram in the shaft coupling joint of robot；
Fig. 2 is the overall structure diagram of the present invention；
Fig. 3 is the structural schematic diagram of device for filling B in the present invention；
Fig. 4 is the close-up schematic view at A in Fig. 3；
Fig. 5 is the structural schematic diagram one of pressurizing unit in the present invention；
Fig. 6 is the structural schematic diagram two of pressurizing unit in the present invention；
Fig. 7 is the exploded perspective view of pressurizing unit in the present invention；
Fig. 8 is the close-up schematic view at B in Fig. 7；
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant to the invention.
A kind of shaft coupling joint of robot as shown in Figure 1 has connection cylinder 1, and the upper end of connection cylinder 1 is in bulb
Shape, lower end are in bar shape, and lower end cylinder can be provided directly as stud, in the upper end of connection cylinder 1 in the outside of bulb shape by interior
To lubricating sleeve 2, connection shell 3 is equipped with successively outside, the inner cavity of lubricating sleeve 2 is coated with graphene in hollow sphere shape and its surface
Wearing layer, and the lower end of lubricating sleeve 2 envelopes the upper end of connection cylinder 1, the entire bulb end for connecting cylinder 1 is covered by
In the inner cavity of lubricating sleeve 2, it is equipped with annular convex platform in the outside of connection shell 3, the top of the annular convex platform is set as interconnecting piece, even
Socket part can be directly connected to other mechanical arms or device, and the lower end of annular convex platform envelopes the lower end of lubricating sleeve 2, moistens simultaneously
Sliding sleeve 2 is embodied directly in connection shell 3.Plane articulation robot is bearing static load, i.e., in the rotary shaft of planar contact pair
The dead weight in multiple joints can directly substitute traditional ball bearing part, pass through graphene by the pivoting friction of direct bulb
The effect of wearing layer also avoids after needing to fill lubricant grease under conventional situation, and the blocking for being easy to be easy to cause greasy dirt into ash is asked
Topic, the contact of large area can be obviously improved the ability of carrying, while in order to prevent when bearing cargo load, may be in moment
The α angles of play are generated, spring bearing 4, the spring bearing can be equipped in the junction of the top and bottom of connection cylinder 1
4 are located at the lower section of lubricating sleeve 2, and what is be implemented is better.In order to further enhance the stability of support, in spring bearing 4
Between lubricating sleeve 2 be equipped with limit lantern ring 5, while limit lantern ring 5 can play sealing lubrication set 2 inner surface with connect cylinder
The effect in the region that 1 bulb is constituted.
A kind of preferred embodiment of robot shaft coupling of the invention joint pressurizing unit as shown in Figure 2, including fixed seat,
It is equipped with device for filling B11, the pressurizing unit 12 for installing connection cylinder 1 successively in fixed seat.
As shown in Figure 3 and Figure 4, the device for filling B11 has feeding track B111 and overturning mounting assembly 112, described
Feeding track B111 has three horizontally disposed guide rods 1111, and the cross section of the guide rod 1111 is in the vertical direction
Isoceles triangle shape is distributed, and wherein two guide rods 1111 are located at same level, and a remaining guide rod 1111 is located at two
The top of 1111 place horizontal plane of guide rod, the overturning mounting assembly 112 have and can come along the extension direction of guide rod 1111
The first slide 1121 moved back and forth is returned, is equipped in first slide 1121 vertical with the holding of the moving direction of first slide 1121
Second slide 1122, the third slide 1123 that can vertically move back and forth back and forth is equipped in second slide 1122,
Third slide 1123 is equipped with stretching and rotatable mechanical gripper 1124 in the horizontal direction.Two positioned at same level are led
The end tilted obliquely is equipped with to the end of bar 1111.
As shown in Fig. 5~Fig. 8, the pressurizing unit 12 has the rectangle skeleton frame 121 of fixed setting, in rectangle skeleton frame 121
Lower part be fixed with cylinder beam barrel 122, intermediolateral column 123 is slidably fitted in cylinder beam barrel 122, in the upper of intermediolateral column 123
End is fixedly connected with the connecting pole 124 by Driven by Hydraulic Cylinder, and vertically perforative evacuation chamber is equipped on connecting pole 124
Room is rotatablely equipped with outer turning set 125 in intermediolateral column 123, and drive shaft is nested with by key connection in outer turning set 125
126, the upper end of the drive shaft 126 extends into evacuation chamber and is connected with driving motor 127 by belt wheel, turns outside
The lower end of dynamic set 125 is equipped with compression assemblies 126, and the compression assemblies 126 have the central shaft of turning set 125 other than at least three
The limit sheet body 1261 of rotary setting centered on line is equipped with crushing block at the center in the region that limit sheet body 1261 surrounds and constitutes
1262, squeezing roller 1263 is equipped between each limit sheet body 1261 and crushing block 1262.
Above-described embodiment at work, can be nested good by lubricating sleeve 2 and connection shell 3 in advance, and is placed on mounting base 14
It is interior to be convenient for subsequent operation, the mounting base 14 for being already equipped with lubricating sleeve 2 and connection shell 3 is then moved to mechanical gripper 1124
Lower section, mechanical gripper 1124 pass through the effect of first slide 1121, second slide 1122, the first end cross towards guide rod 1111
It moves, due to the guide rod 1111 being distributed in isoceles triangle shape, being sent into connection cylinder 1 therein for every will be the case where conducting oneself with dignity
Under, upper end bulb is located between three guide rods 1111, and lower end columnar part freely hangs down, when mechanical gripper 1124 is traversing to even
After connecing 1 lower section of cylinder, mechanical gripper 1124 moves up, and then locks, and traversing round about so that connection cylinder 1 is de-
From guide rod 1111, the then overturning of tool handgrip 1124 so that the bulb part of connection cylinder 1 downward, then proceedes to traversing to peace
14 top of seat is filled, is then filled in the bulb part for connecting cylinder 1 in lubricating sleeve 2 by third slide 1123, then filling dress
Set B11 resets.
Then will accommodate lubricating sleeve 2, connection shell 3, connect cylinder 1 mounting base 14 be moved to compression assemblies 126
Lower section, Driven by Hydraulic Cylinder connecting pole 124, intermediolateral column 123 move down so that squeezing roller 1263 touches connection shell 3
Edge on the outside of upper end then proceedes to move down, and squeezing roller 1263 will make connection shell 3, lubricating sleeve 2 occur together
Deformation makes full use of the arc shape of bulb, and then outer turning set 125 rotates so that squeezing roller 1263 rotates, finally will even
Body contact body 3, lubricating sleeve 2 squeeze arc of the bending in coated together, and pressurizing unit 12 resets.
Shaft coupling joint after the completion of preliminary assembly can be sent into next station by mounting base 14, directly sequentially be set with stop collar
Ring 5, spring bearing 4 can completely final assembly.Multiple mounting bases 14 can be arranged to be recycled.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (4)
1. a kind of robot shaft coupling joint pressurizing unit, including fixed seat, it is characterised in that：It is set successively in the fixed seat
It is useful for device for filling B (11), the pressurizing unit (12) of installation connection cylinder (1).
2. a kind of robot shaft coupling joint as described in claim 1 pressurizing unit, it is characterised in that：The device for filling B
(11) there is feeding track B (111) and overturning mounting assembly (112),
The feeding track B (111) has three horizontally disposed guide rods (1111), the cross section of the guide rod (1111)
It is in that isoceles triangle shape is distributed, and wherein two guide rods (1111) are located at same level in the vertical direction, remaining one is led
The top of horizontal plane where being located at two guide rods (1111) to bar (1111),
The overturning mounting assembly (112) has the first slide that can be back and forth moved back and forth along the extension direction of guide rod (1111)
(1121), it is equipped in the first slide (1121) and keeps vertical second slide with the moving direction of first slide (1121)
(1122), the third slide (1123) that can vertically move back and forth back and forth is equipped in the second slide (1122),
The third slide (1123) is equipped with stretching and rotatable mechanical gripper (1124) in the horizontal direction.
3. a kind of robot shaft coupling joint as claimed in claim 2 pressurizing unit, it is characterised in that：Positioned at same level
The ends of two guide rods (1111) be equipped with the end that tilts obliquely.
4. a kind of robot shaft coupling joint as described in claim 1 pressurizing unit, it is characterised in that：The pressurizing unit
(12) the rectangle skeleton frame (121) with fixed setting, cylinder beam barrel is fixed in the lower part of the rectangle skeleton frame (121)
(122), it is slidably fitted with intermediolateral column (123) in the cylinder beam barrel (122), is fixed in the upper end of the intermediolateral column (123)
It is connected with the connecting pole (124) by Driven by Hydraulic Cylinder, vertically perforative evacuation chamber is equipped on the connecting pole (124)
Room is rotatablely equipped with outer turning set (125) in the intermediolateral column (123), passes through key connection in the outer turning set (125)
It is nested with drive shaft (126), the upper end of the drive shaft (126) extends into evacuation chamber and is connected with by belt wheel
Driving motor (127) is equipped with compression assemblies (126), compression assemblies (126) tool in the lower end of the outer turning set (125)
The limit sheet body (1261) for having rotary setting centered on the central axis of turning set (125) other than at least three, in the limit
The center in region that sheet body (1261) is surrounded and constituted is equipped with crushing block (1262), in each limit sheet body (1261) and crushing block
(1262) squeezing roller (1263) is equipped between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810904987.8A CN108705308A (en) | 2018-08-09 | 2018-08-09 | A kind of robot shaft coupling joint pressurizing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810904987.8A CN108705308A (en) | 2018-08-09 | 2018-08-09 | A kind of robot shaft coupling joint pressurizing unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108705308A true CN108705308A (en) | 2018-10-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810904987.8A Pending CN108705308A (en) | 2018-08-09 | 2018-08-09 | A kind of robot shaft coupling joint pressurizing unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108705308A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5107716A (en) * | 1988-08-11 | 1992-04-28 | Fanuc Ltd. | Horizontal revolute robot |
| CN104924061A (en) * | 2015-06-16 | 2015-09-23 | 东莞市米勒机器人有限公司 | Horizontal joint screw locking mechanical arm and full-automatic production line with mechanical arm |
| CN105680641A (en) * | 2016-03-26 | 2016-06-15 | 舟山晨光电器有限公司 | Assembling machine of motor stator |
| CN108000206A (en) * | 2017-11-21 | 2018-05-08 | 河南捷朗精密机床有限公司 | A kind of vertical lathe |
| CN209364066U (en) * | 2018-08-09 | 2019-09-10 | 常州市知豆信息科技有限公司 | A kind of robot shaft coupling joint pressurizing unit |
-
2018
- 2018-08-09 CN CN201810904987.8A patent/CN108705308A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5107716A (en) * | 1988-08-11 | 1992-04-28 | Fanuc Ltd. | Horizontal revolute robot |
| CN104924061A (en) * | 2015-06-16 | 2015-09-23 | 东莞市米勒机器人有限公司 | Horizontal joint screw locking mechanical arm and full-automatic production line with mechanical arm |
| CN105680641A (en) * | 2016-03-26 | 2016-06-15 | 舟山晨光电器有限公司 | Assembling machine of motor stator |
| CN108000206A (en) * | 2017-11-21 | 2018-05-08 | 河南捷朗精密机床有限公司 | A kind of vertical lathe |
| CN209364066U (en) * | 2018-08-09 | 2019-09-10 | 常州市知豆信息科技有限公司 | A kind of robot shaft coupling joint pressurizing unit |
Non-Patent Citations (1)
| Title |
|---|
| 机械狂魔: "牛眼轮(万向球)自动装配机", 《开拔网》, 18 July 2018 (2018-07-18), pages 1 - 12 * |
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