CN108705559A - A kind of plane articulation robot shaft coupling joint and its manufacturing equipment - Google Patents
A kind of plane articulation robot shaft coupling joint and its manufacturing equipment Download PDFInfo
- Publication number
- CN108705559A CN108705559A CN201810903291.3A CN201810903291A CN108705559A CN 108705559 A CN108705559 A CN 108705559A CN 201810903291 A CN201810903291 A CN 201810903291A CN 108705559 A CN108705559 A CN 108705559A
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- China
- Prior art keywords
- manufacturing equipment
- shaft coupling
- lubricating sleeve
- round turntable
- coupling joint
- 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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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 32
- 230000008878 coupling Effects 0.000 title claims abstract description 21
- 238000010168 coupling process Methods 0.000 title claims abstract description 21
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 21
- 230000001050 lubricating effect Effects 0.000 claims abstract description 43
- 238000000576 coating method Methods 0.000 claims abstract description 11
- 239000011248 coating agent Substances 0.000 claims abstract description 9
- 238000005461 lubrication Methods 0.000 claims abstract description 8
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims abstract description 6
- 229910002804 graphite Inorganic materials 0.000 claims abstract description 3
- 239000010439 graphite Substances 0.000 claims abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 239000000945 filler Substances 0.000 claims description 9
- 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
- 239000003921 oil Substances 0.000 claims description 7
- 239000010687 lubricating oil Substances 0.000 claims description 5
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 150000001336 alkenes Chemical class 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 4
- 229910021389 graphene Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000000463 material Substances 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
- 239000000243 solution Substances 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of plane articulation robot shaft coupling joint and its manufacturing equipments, shaft coupling joint has connection cylinder, the upper end of the connection cylinder is in bar shape in bulb shape, lower end, lubricating sleeve, connection shell are equipped with successively from the inside to the outside in the outside of bulb shape, manufacturing equipment has for placing the initial station of connection shell, the device for filling A for installing lubricating sleeve, lubrication oil coating device, the device for filling B for connecting cylinder installation, pressurizing unit, separator in the upper end of connection cylinder.The shaft coupling joint of the present invention changes the design of traditional similar bearing arrangement, make full use of the wear-resisting and lubricating action of graphite ene coatings, the bearing capacity of vertical direction can be substantially improved on the basis of simplifying structure, there is the preferably adaptive ability adjusted and support in horizontal plane direction simultaneously, great practical value, the manufacturing equipment in the shaft coupling joint is provided simultaneously, it is efficiently convenient, be conducive to implement entire scheme.
Description
Technical field
The present invention relates to the technical field of robot, especially a kind of plane articulation robot shaft coupling joint and its manufacture
Equipment.
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.
Invention content
The technical problem to be solved by the present invention is to：Overcome the above problem, a kind of plane articulation robot is provided and is closed with shaft coupling
Section, the operating mode that can preferably adapt to heavy load, rotate above axis more than four can be obviously improved while simplifying structure
The rigidity of mechanical structure, reduces the manufacturing cost of entire robot system, while providing the equipment for manufacturing the joint.
The technical solution adopted by the present invention to solve the technical problems is：A kind of plane articulation robot shaft coupling joint,
With connection cylinder, the upper end of the connection cylinder, in bar shape, is in ball in the upper end of the connection cylinder in bulb shape, lower end
The outside of head is equipped with lubricating sleeve, connection shell successively from the inside to the outside, the inner cavity of the lubricating sleeve in hollow sphere shape and its
Surface is coated with graphene wearing layer, and the lower end of the lubricating sleeve envelopes the upper end of connection cylinder, in the connection shell
The outside of body is equipped with annular convex platform, and the top of the annular convex platform is set as interconnecting piece, and the lower end of the annular convex platform envelopes
The lower end of lubricating sleeve.
Further, it is contemplated that preferably limit play, combination of the present invention in the top and bottom of the connection cylinder
Place is equipped with spring bearing, and the spring bearing is located at the lower section of lubricating sleeve.
Further, it is contemplated that promote enabling capabilities, the present invention is equipped with limit between the spring bearing and lubricating sleeve
Lantern ring.
A kind of manufacturing equipment in plane articulation robot shaft coupling joint, including fixed seat, are equipped in the fixed seat
Round turntable, centered on the central axis of the round turntable, at the edge of round turntable, rotation is equipped with several mounting bases,
Along clockwise direction, it corresponds in the edge of the round turntable and is equipped with successively in the position of mounting base for placing connection
The initial station of shell, the device for filling A for installing lubricating sleeve, oil coating device is lubricated, for connecting filling for cylinder installation
Action B, pressurizing unit, separator.
Further, as a kind of specific embodiment, heretofore described device for filling A has for conveying lubrication
Feed device, the filling rod assembly of set, the feed device have linearly feeding track A, the filling rod assembly tool
There is the limit pedestal being arranged in the end of feeding track A, and the lubricating sleeve can slide into along the side wall of limit pedestal, in the limit
The top of position pedestal is equipped with the filler rod that can vertically move back and forth and can run through limit pedestal, and the filler rod is at least
There are three the cone sticks for surrounding same central axis rotary setting for tool, and are equipped with gap between two adjacent cone sticks.
Further, as a kind of specific embodiment, heretofore described lubrication oil coating device has can be along perpendicular
The lubricating oil injection head that histogram moves up and down.
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, 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.
Further, as a kind of specific embodiment, heretofore described separator has can be vertically
Flexible clamp above and below, the lower section of the clamp be equipped with can the limit clamp of reciprocal telescopic back and forth in the horizontal direction, and it is described
Limit clamp can be embedded in the side wall of mounting base.
Further, as a kind of specific embodiment, heretofore described round turntable is provided dynamic by drive component
Power, the driving component have the rotary electric machine being arranged below round turntable, annular are additionally provided with below the round turntable
Backing plate, centered on the central axis of the round turntable, in the lower section of the annular backing plate, rotation is equipped with several back-up rollers
Wheel, is additionally provided with telescopic limited block below the round turntable.
The beneficial effects of the invention are as follows：The shaft coupling joint of the present invention changes the design of traditional similar bearing arrangement, fills
Divide the wear-resisting and lubricating action using graphite ene coatings, the carrying of vertical direction can be substantially improved on the basis of simplifying structure
Ability, while thering is preferably adaptive adjustment and the ability supported, great practical value to provide simultaneously in horizontal plane direction
The manufacturing equipment in the shaft coupling joint, it is efficiently convenient, be conducive to implement entire scheme.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram in shaft coupling joint of the present invention；
Fig. 2 is the overall structure diagram of manufacturing equipment of the present invention；
Fig. 3 is the structural schematic diagram of device for filling A in manufacturing equipment of the present invention；
Fig. 4 is the structural schematic diagram of filler rod in manufacturing equipment of the present invention；
Fig. 5 is the exploded perspective view of filler rod in manufacturing equipment of the present invention；
Fig. 6 is the structural schematic diagram that oil coating device is lubricated in manufacturing equipment of the present invention；
Fig. 7 is the structural schematic diagram of device for filling B in manufacturing equipment of the present invention；
Fig. 8 is the close-up schematic view at A in Fig. 7；
Fig. 9 is the structural schematic diagram one of pressurizing unit in manufacturing equipment of the present invention；
Figure 10 is the structural schematic diagram two of pressurizing unit in manufacturing equipment of the present invention；
Figure 11 is the exploded perspective view of pressurizing unit in manufacturing equipment of the present invention；
Figure 12 is the close-up schematic view at B in Figure 11；
Figure 13 is the structural schematic diagram of separator in manufacturing equipment of the present invention；
Figure 14 is the structural schematic diagram one of drive component in manufacturing equipment of the present invention；
Figure 15 is the structural schematic diagram two of drive component in manufacturing equipment of the present invention；
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 embodiment in plane articulation robot shaft coupling joint of the present invention as shown in Figure 1, has connection cylinder 1,
The upper end of connection cylinder 1 is in bar shape in bulb shape, lower end, and lower end cylinder can be provided directly as stud, in the upper of connection cylinder 1
End is equipped with lubricating sleeve 2, connection shell 3 successively from the inside to the outside in the outside of bulb shape, and the inner cavity of lubricating sleeve 2 is in hollow sphere shape
And its surface is coated with graphene wearing layer, and the lower end of lubricating sleeve 2 envelopes the upper end of connection cylinder 1, entire connecting pole
The bulb end of body 1 is covered by the inner cavity of lubricating sleeve 2, and annular convex platform, the convex annular are equipped in the outside of connection shell 3
The top of platform is set as interconnecting piece, and interconnecting piece 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, while lubricating sleeve 2 is embodied directly in connection shell 3.Rotation of the plane articulation robot in planar contact pair
Shaft is bearing static load, i.e., the dead weight in multiple joints can directly substitute tradition by the pivoting friction of direct bulb
Ball bearing part also avoid needing under conventional situation after filling lubricant grease by the effect of graphene wearing layer, be easy into
Ash be easy to cause the blockage problem of greasy dirt, and the contact of large area can be obviously improved the ability of carrying, while hold in order to prevent
When by cargo load, it may can be set in the junction of the top and bottom of connection cylinder 1 in the α angles of moment generation play
There are spring bearing 4, the spring bearing 4 to be located at the lower section of lubricating sleeve 2, what is be implemented is better.In order to further enhance
The stability of support is equipped with limit lantern ring 5, while limiting lantern ring 5 to play sealing between spring bearing 4 and lubricating sleeve 2
The effect in the region that the inner surface of lubricating sleeve 2 is constituted with the bulb for connecting cylinder 1.
A kind of embodiment of the plane articulation robot manufacturing equipment in shaft coupling joint as shown in Figure 2, including fixed seat 6,
Round turntable 7 is equipped in fixed seat 6, centered on the central axis of round turntable 7, rotation is set at the edge of round turntable 7
There are several mounting bases 14, corresponds along clockwise direction, in the edge of round turntable 7 in the position of mounting base 14 successively
Equipped with the initial station 8 for placing connection shell 3, the device for filling A9 for installing lubricating sleeve 2, lubrication oil coating device
10, the device for filling B11, pressurizing unit 12, separator 13 for connecting the installation of cylinder 1.
As shown in Fig. 3~Fig. 5, the device for filling A9 has feed device 91, the filler rod group for conveying lubricating sleeve 2
Part 92, the feed device 91 have linearly feeding track A911, and the filling rod assembly 92, which has, to be arranged in feeding
The limit pedestal 921 of the end of track A911, and lubricating sleeve 2 can slide into along the side wall of limit pedestal 921, in limit pedestal 921
Top be equipped with can vertically move back and forth and can run through limit pedestal 921 filler rod 922, the filler rod 922 have
There are four the cone sticks 9221 for surrounding same central axis rotary setting, and are equipped with gap between two adjacent cone sticks 9221,
The top that stick 9221 is bored at four is equipped with connection body 9224, is equipped in the top of connection body 9224 for connecting consolidating for cylinder
Determine first 9222, adjustable column 9223 is inlaid at the center of connection body 9224, between adjustable column 9223 and gland 9222
Equipped with pre-compressed spring, the lower end of the adjustable column 9223 is in bulb shape and resists the top of cone stick 9221, the cone stick 9221
Top is equipped with the fixinig plate that can be embedded in connection body 9224, and the fixinig plate is bolted on connection body 9224.
As shown in fig. 6, the lubrication oil coating device 10 has the lubricating oil injection head that can vertically move up and down
101。
As shown in Figure 7 and Figure 8, 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.
As shown in figs. 9 to 12, 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.
As shown in figure 13, the separator 13 has the clamp 131 that can vertically stretch above and below, in clamp 131
Lower section be equipped with can the limit clamp 132 of reciprocal telescopic back and forth in the horizontal direction, and limit clamp 132 and can be embedded in mounting base 14
Side wall in.
As shown in Figure 14 and Figure 15, the round turntable 7 provides power by drive component 15, and the driving component 15 has
The rotary electric machine 151 being arranged below round turntable 7, is additionally provided with annular backing plate 152 below round turntable 7, with round turntable 7
Central axis centered on, annular backing plate 152 lower section rotation be equipped with several back-up roller wheels 153, under round turntable 7
Side is additionally provided with telescopic limited block 154.
At work, multiple mounting bases 14 are arranged in above-mentioned manufacturing equipment on round turntable 7 in advance, in initial station
On 8, since the outermost connection shell 3 in entire shaft coupling joint is cylindrical, it is not special-shaped, mechanical arm can be passed through
Directly connection shell 3 is directly placed into the mounting base 14 at initial station 8, then round turntable 7 rotates a position,
Limited block 154 stretches out limit upwards.
The mounting base 14 that connection shell 3 is housed at this time turns to the lower section of limit pedestal 921, and feeding track A911 will lubricate
In 2 push-in limit pedestal 921 of set, then bores stick 9221 and resist lubricating sleeve 2 together and move downwardly together, until by lubricating sleeve 2
In filling to connection shell 3, since there are certain intervals between cone stick 9221, in the mistake that lubricating sleeve 2 is squeezed into connection shell 3
Cheng Zhong, cone stick 9221 will be in collapse shape to be merged into cylinder, until the size of 3 port of adaptation connection shell, final so that profit
Sliding sleeve 2 completely with connect shell 3 be in close contact, then bore stick 9221 on lift, resetted under the action of pre-compressed spring.
Limited block 154 shrinks unlock downwards, and round turntable 7 rotates again, and it is (every that limited block 154 stretches out limit upwards
Secondary rotation all repeatedly, repeats no more), lubricating sleeve 2 is accommodated at this time, the mounting base 14 of connection shell 3 turns to lubricating oil
The lower section of injection head 101 can either be smooth convenient for subsequent installation for being coated with one layer of lubricating oil on the surface of graphene layer,
The effect of lubricating and wear-resisting can be further functioned as again.
Subsequent round turntable 7 rotates again, accommodates lubricating sleeve 2, the mounting base 14 of connection shell 3 turns to mechanical gripper
1124 lower section, mechanical gripper 1124 is by the effect of first slide 1121, second slide 1122, first towards guide rod 1111
End is traversing, and due to the guide rod 1111 being distributed in isoceles triangle shape, being sent into connection cylinder 1 therein for every will be in dead weight
In the case of, 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 1 lower section of connection cylinder, mechanical gripper 1124 moves up, and then locks, and traversing round about so that connection cylinder
1 be detached from guide rod 1111, then tool handgrip 1124 overturn so that connection cylinder 1 bulb part downward, then proceed to it is traversing extremely
14 top of mounting base, then the bulb part for connecting cylinder 1 is filled in lubricating sleeve 2, then fill by third slide 1123
Device B11 resets.
Subsequent round turntable 7 rotates again, accommodates lubricating sleeve 2, connection shell 3, the rotation of mounting base 14 for connecting cylinder 1
To the lower section of compression assemblies 126, Driven by Hydraulic Cylinder connecting pole 124, intermediolateral column 123 move down so that squeezing roller 1263 connects
Contact connection shell 3 upper end on the outside of edge, then proceed to move down, squeezing roller 1263 will make connect shell 3,
Lubricating sleeve 2 deforms upon together, then outer turning set 125 rotate so that squeezing roller 1263 rotate, finally will connection shell 3,
Lubricating sleeve 2 squeezes arc of the bending in coated together, and pressurizing unit 12 resets.
Subsequent round turntable 7 rotates again, and mounting base 14 turns to the lower section of clamp 131, then limits clamp 132 along water
Square to be inserted into mounting base 14 side wall in, clamp 131 are moved down and are tightened, and then clamp 131 move up so that lubrication
Set 2, connection shell 3, connection cylinder 1 can leave mounting base 14 together, and subsequent clamp 131 unclamp, and preliminary assembly is completed
Next station is sent into rear shaft coupling joint, and directly sequentially suit limit lantern ring 5, spring bearing 4 can completely final assembly.
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 (10)
1. a kind of plane articulation robot shaft coupling joint, it is characterised in that：With connection cylinder (1), the connection cylinder (1)
Upper end in bulb shape, lower end be in bar shape, the upper end of the connection cylinder (1) in bulb shape outside from the inside to the outside successively
Equipped with lubricating sleeve (2), connection shell (3), the inner cavity of the lubricating sleeve (2) is coated with graphite in hollow sphere shape and its surface
Alkene wearing layer, and the lower end of the lubricating sleeve (2) envelopes the upper end of connection cylinder (1), in the outer of the connection shell (3)
Side is equipped with annular convex platform, and the top of the annular convex platform is set as interconnecting piece, and the lower end of the annular convex platform envelopes lubricating sleeve
(2) lower end.
2. a kind of plane articulation robot shaft coupling joint as described in claim 1, it is characterised in that：In the connection cylinder
(1) junction of top and bottom is equipped with spring bearing (4), and the spring bearing (4) is located at the lower section of lubricating sleeve (2).
3. a kind of plane articulation robot shaft coupling joint as claimed in claim 2, it is characterised in that：In the spring bearing
(4) limit lantern ring (5) is equipped between lubricating sleeve (2).
4. a kind of manufacturing equipment in plane articulation robot shaft coupling joint as described in claim 1, including fixed seat (6),
It is characterized in that：Round turntable (7) is equipped in the fixed seat (6), during the central axis with the round turntable (7) is
The heart, at the edge of round turntable (7), rotation is equipped with several mounting bases (14), along clockwise direction, in the round turntable (7)
Edge correspond in the position of mounting base (14) successively be equipped with for places connection shell (3) initial station (8), use
In the device for filling A (9) of installation lubricating sleeve (2), lubrication oil coating device (10), installation for connecting cylinder (1) filling
Device B (11), pressurizing unit (12), separator (13).
5. manufacturing equipment as claimed in claim 4, it is characterised in that：The device for filling A (9) has for conveying lubricating sleeve
(2) feed device (91), filling rod assembly (92),
There is the feed device (91) linearly feeding track A (911), the filling rod assembly (92) there is setting to exist
The limit pedestal (921) of the end of feeding track A (911), and the lubricating sleeve (2) can be slided along the side wall of limit pedestal (921)
Enter, being equipped in the top of the limit pedestal (921) can vertically move back and forth and can run through limit pedestal (921)
Filler rod (922), the filler rod (922) at least have there are three the cone stick (9221) for surrounding same central axis rotary setting,
And it is equipped with gap between two adjacent cone sticks (9221).
6. manufacturing equipment as claimed in claim 4, it is characterised in that：The lubrication oil coating device (10) has can be along vertical
The lubricating oil injection head (101) that direction moves up and down.
7. manufacturing equipment as claimed in claim 4, it is characterised in that：The device for filling B (11) has 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.
8. manufacturing equipment as claimed in claim 4, it is characterised in that：The pressurizing unit (12) has the rectangle of fixed setting
Skeleton frame (121) is fixed with cylinder beam barrel (122), in the cylinder beam barrel (122) in the lower part of the rectangle skeleton frame (121)
It is inside slidably fitted with intermediolateral column (123), the connecting pole by Driven by Hydraulic Cylinder is fixedly connected in the upper end of the intermediolateral column (123)
(124), vertically perforative evacuation chamber is equipped on the connecting pole (124), the rotation in the intermediolateral column (123)
Outer turning set (125) is installed, drive shaft (126), the drive are nested with by key connection in the outer turning set (125)
The upper end of turn axis (126) extends into evacuation chamber and is connected with driving motor (127) by belt wheel, in the outer rotation
The lower end for covering (125) is equipped with compression assemblies (126), and the compression assemblies (126) have turning set (125) other than at least three
The limit sheet body (1261) of rotary setting centered on central axis, in the region that the limit sheet body (1261) surrounds and constitutes
Center is equipped with crushing block (1262), and squeezing roller is equipped between each limit sheet body (1261) and crushing block (1262)
(1263)。
9. manufacturing equipment as claimed in claim 4, it is characterised in that：The separator (13) has can be vertically
Flexible clamp (131) above and below, being equipped in the lower section of the clamp (131) can the limit of reciprocal telescopic back and forth in the horizontal direction
Clamp (132), and the limit clamp (132) can be embedded in the side wall of mounting base (14).
10. manufacturing equipment as claimed in claim 4, it is characterised in that：The round turntable (7) is provided by drive component (15)
Power, the driving component (15) has the rotary electric machine (151) being arranged below round turntable (7), in the round turntable
(7) lower section is additionally provided with annular backing plate (152), centered on the central axis of the round turntable (7), in the annular backing plate
(152) lower section rotation is equipped with several back-up roller wheels (153), is additionally provided with below the round turntable (7) telescopic
Limited block (154).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903291.3A CN108705559A (en) | 2018-08-09 | 2018-08-09 | A kind of plane articulation robot shaft coupling joint and its manufacturing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903291.3A CN108705559A (en) | 2018-08-09 | 2018-08-09 | A kind of plane articulation robot shaft coupling joint and its manufacturing equipment |
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| CN111958632A (en) * | 2020-08-13 | 2020-11-20 | 广州超控自动化设备科技有限公司 | Arm-splitting type industrial robot |
| CN116765788A (en) * | 2023-08-24 | 2023-09-19 | 山东罗科尔德消防科技有限公司 | Gas alarm shell equipment |
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| CN111958632B (en) * | 2020-08-13 | 2021-11-16 | 芜湖藦卡机器人科技有限公司 | Arm-splitting type industrial robot |
| CN116765788A (en) * | 2023-08-24 | 2023-09-19 | 山东罗科尔德消防科技有限公司 | Gas alarm shell equipment |
| CN116765788B (en) * | 2023-08-24 | 2023-10-13 | 山东罗科尔德消防科技有限公司 | Gas alarm shell equipment |
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