CN109128761B - Mounting structure of hold-down device and forearm foundry goods and reduction gear synchronizing wheel subassembly - Google Patents

Abstract

The invention discloses a compressing device and a mounting structure of a small arm casting and a speed reducer synchronizing wheel assembly, wherein the compressing device comprises a motion conversion part and a pressure head, and the motion conversion part is provided with a horizontally extending guide surface; the ram is slidably disposed on the guide surface under the drive of the first driver, and the ram is guided by the guide surface to be converted from an initial horizontal movement into a movement having a movement component at least in a vertical direction. The mounting structure comprises the pressing device and the manipulator. The pressing head moves downwards under the action of the vertical movement component, downward pressing force is applied to the part to be pressed, the space occupied by the pressing device in the vertical direction is reduced, and therefore the pressing device and a manipulator operated in the vertical direction can be synchronously operated above the part to be pressed, and the accuracy of assembly of the part to be pressed and other parts is ensured.

Description

Mounting structure of hold-down device and forearm foundry goods and reduction gear synchronizing wheel subassembly

Technical Field

The invention relates to the technical field of robot assembly, in particular to a compacting device and a mounting structure of a small arm casting and a reducer synchronizing wheel assembly.

Background

In the prior art, when the small arm casting and the speed reducer synchronous wheel assembly of the robot are installed, the speed reducer synchronous wheel assembly is required to be embedded into an inner hole at one end of the small arm casting, and in order to enable the speed reducer synchronous wheel assembly and the small arm casting to be installed in place, downward pressing force is required to be applied to the speed reducer synchronous wheel assembly through a pressing device, so that the speed reducer synchronous wheel assembly is embedded into the inner hole of the small arm casting.

The compressing device in the prior art is characterized in that a cylinder arranged vertically is adopted, a pressing plate is fixed on the bottom of a vertical telescopic shaft of the cylinder, and downward pressure is applied to a speed reducer synchronizing wheel assembly through the pressing plate. However, in the installation process of the small arm casting and the synchronous wheel assembly of the speed reducer, the mechanical arm is required to vertically clamp the synchronous wheel assembly of the speed reducer, the synchronous wheel assembly of the speed reducer and the inner hole of the small arm casting are adjusted to be concentric, and a space for the operation of the pressing device is not reserved in the vertical direction, so that the mechanical arm and the pressing device cannot synchronously operate, and the defect that the synchronous wheel assembly of the speed reducer and the small arm casting cannot be installed in place is caused.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is that the existing pressing device cannot work synchronously with the manipulator in the vertical direction, so that the defect that the synchronous wheel assembly of the speed reducer and the small arm casting are not installed in place is caused.

To this end, the invention provides a compacting device comprising:

at least one motion conversion member having a horizontally extending guide surface;

a ram slidably disposed on the guide surface under horizontal drive of the first drive, the ram being guided by the guide surface to be converted from an initial horizontal movement to a movement having a movement component at least in a vertical direction.

Optionally, in the above pressing device, the guide surface includes a first slope surface that slopes from top to bottom.

Further optionally, the pressing device further includes a horizontal plane extending horizontally and connected to the first slope; the horizontal plane is adjacent to the first driver relative to the first ramp.

Optionally, in the above pressing device, the guide surface further includes a transition surface disposed between the horizontal surface and the first slope surface, and an inclination angle of the transition surface with respect to the horizontal surface is smaller than an inclination angle of the first slope surface with respect to the horizontal surface.

Optionally, in the above pressing device, the motion conversion component includes a chute disposed on the base and having a notch facing upward, and the guiding surface is disposed on at least one side wall of the chute, or the guiding surface is disposed at a bottom of the chute.

Further alternatively, in the above-mentioned compressing device, two opposite guiding holes are respectively provided on two sidewalls of the chute, and the guiding surface is formed on a wall of each guiding hole; and two side wall ends of the pressure head respectively extend into one guide hole.

Optionally, the pressing device further includes at least one fixing shaft penetrating through the pressing head, and two side wall ends of the pressing head respectively extend into one of the guide holes through two ends of the fixing shaft.

Optionally, in the above-mentioned compressing device, the first driver is disposed in the chute in an inclined manner, and a telescopic shaft of the first driver is hinged to the pressure head through a transition piece.

Optionally, in the above-mentioned pressing device, the pressing head includes a mounting portion and a head portion formed on the mounting portion in a bending manner;

the mounting part is slidably arranged on the guide surface, and the head part extends out of the motion conversion part; the drive shaft of the first driver is connected to the mounting portion.

Optionally, the above compressing device further includes a sliding mechanism connected to the motion conversion member and configured to drive the motion conversion member to slide in a horizontal direction.

The invention provides a mounting structure of a forearm casting and a synchronous wheel assembly of a speed reducer, which comprises

A work table;

at least one of the above mentioned hold down devices disposed above the table;

and the manipulator is used for taking and placing the forearm casting and the reducer synchronizing wheel assembly on the workbench.

The technical scheme provided by the invention has the following advantages:

1. the compressing device comprises a motion conversion part and a pressure head, wherein the motion conversion part is provided with a guide surface extending horizontally; the ram is slidably disposed on the guide surface under the drive of the first driver, and the ram is guided by the guide surface to be converted from an initial horizontal movement into a movement having a movement component at least in a vertical direction.

According to the pressing device with the structure, when the pressing head slides on the guide surface of the motion conversion part, under the guide action of the guide surface, the initial horizontal motion of the pressing head has a motion component in the vertical direction, under the action of the motion component, the pressing head moves downwards in the vertical direction, the downward pressing force is applied to the part to be pressed, the space occupied by the pressing device in the vertical direction is reduced, and therefore the pressing device and the manipulator operated in the vertical direction can be synchronously operated above the part to be pressed, and the assembly accuracy of the part to be pressed and other parts is ensured.

2. The guide surface of the pressing device provided by the invention comprises a first slope surface which is inclined from top to bottom. Due to the inclination of the first slope, when the pressure head slides on the first slope, the pressure head has a motion component in the vertical direction, so that the horizontal motion of the pressure head is converted into the vertical motion component, and the pressure head is further enabled to apply the required pressing force to the part to be pressed.

3. The compressing device provided by the invention is characterized in that the motion conversion part comprises a chute which is arranged on the base and has an upward notch, wherein the guiding surface is arranged on at least one side wall of the chute, or the guiding surface is arranged at the bottom of the chute. The base is provided with the sliding groove, and the guide surface is arranged on the side wall or the groove bottom of the sliding groove, so that the guide surface is convenient to process.

4. According to the pressing device provided by the invention, two opposite guide holes are respectively arranged on two side walls of the chute, and the guide surface is formed on the wall of each guide hole; and two side wall ends of the pressure head respectively extend into one guide hole. Through be equipped with a guiding hole respectively on the two lateral walls of spout, the guide surface shaping is in every guiding hole, and in the both sides end of pressure head stretched out a guiding hole respectively, two guiding holes played the guide effect to the pressure head slip in step to improve the pressure head at gliding stability.

5. The invention provides a mounting structure of a small arm casting and a speed reducer synchronizing wheel assembly, which comprises a workbench, at least one pressing device arranged above the workbench, and a manipulator, wherein the manipulator is used for taking and placing the small arm casting and the speed reducer synchronizing wheel assembly on the workbench.

According to the mounting structure of the small arm casting and the reducer synchronizing wheel assembly, in the process of assembling the synchronizing wheel and the small arm casting, the reducer synchronizing wheel assembly is vertically embedded into an inner hole of the small arm casting by a mechanical arm; meanwhile, the pressure head of the pressing device stretches into the inner hole of the small arm casting along the horizontal direction, downward pressing force is applied to the top of the speed reducer synchronizing wheel assembly, so that the speed reducer synchronizing wheel assembly integrally moves downwards, synchronous operation of the vertical pressing device and the manipulator is achieved, mutual influence is avoided, and the speed reducer synchronizing wheel assembly and the small arm casting are guaranteed to be installed in place.

Drawings

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

Fig. 1 is a schematic structural view of a pressing device provided in embodiment 1 of the present invention;

FIG. 2 is a schematic view of the first driver, base and ram of the compression device of FIG. 1 after assembly;

FIG. 3 is an exploded view of the compression device of FIG. 2;

FIG. 4 is a schematic view of the structure of a ram of the pressing device of FIG. 2;

FIG. 5 is a schematic view of a sliding mechanism of the pressing device in FIG. 1;

reference numerals illustrate:

1-a pressure head; 11-an installation part; 12-head; 13-a fixed shaft; 131-a roller; 14-a first opening;

21-a base; 211-a chute; 212-a second opening; 22-a guide hole; 221-a horizontal extension; 222-a sloped section; 223-transition section;

31-a first driver; 32-transition piece; 33-a supporting seat;

4-a sliding mechanism; 41-a base frame; 42-a first rail; 43-slide block; 44-connecting plates.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Example 1

The present embodiment provides a pressing device, as shown in fig. 1 to 5, which includes a motion converting member, a pressing head 1, a first driver 31, and a base 21.

As shown in fig. 1, the motion conversion component comprises a sliding groove 211 arranged on a base 21 and with a notch facing upwards, and two opposite guide holes 22 are respectively arranged on two side walls of the sliding groove 211. Wherein the ram 1 is slidably disposed in the chute 211 by being driven by the first driver 31, and both side ends of the ram 1 are slidably disposed in one guide hole 22, respectively, but the bottom of the ram 1 is separated from the bottom of the chute.

As shown in fig. 2, the first driver 31 is installed in the chute and the telescopic shaft thereof performs telescopic motion along the chute 211, for example, the first driver 31 is a cylinder, and the ram 1 is connected with the telescopic shaft of the cylinder.

Optionally, the cylinder is obliquely installed on the sliding chute 211, for example, two supporting seats 33 are arranged on the side wall of the sliding chute 211, the two supporting seats 33 are arranged at intervals and incline from top to bottom, and the supporting seats 33 are sleeved outside the cylinder, so that the whole cylinder is inclined downwards from the direction away from the pressure head 1 to the direction close to the pressure head 1, and when the telescopic shaft of the cylinder drives the pressure head 1 to slide obliquely along a first slope (mentioned below), the telescopic shaft of the cylinder also slides along the oblique direction, so that the guiding effect of the first slope on the pressure head 1 is stronger.

As shown in fig. 3, each guide hole 22 comprises a horizontal extending section 221 and an inclined section 222 which are sequentially connected from far away from the pressure head 1 to the direction towards the pressure head 1, wherein the hole wall at the inclined section 222 is a first slope, the hole wall at the horizontal extending section 221 is a horizontal plane, and the first slope and the horizontal plane form a guide surface.

The two side wall ends of the pressing head 1 extend into a guide hole 22 respectively, the pressing head 1 gradually slides to a first slope from an initial horizontal plane under the drive of a first driver, the pressing head 1 is converted into vertical inclined motion with a motion component from initial horizontal motion under the guide action of the inclined downward of the first slope, and the pressing head 1 moves downwards under the action of the vertical motion component and applies downward pressing force to a part to be pressed.

Optionally, as shown in fig. 3, a transition section 223 is further disposed between the horizontal extending section 221 and the inclined section 222, the transition section 223 also inclines from top to bottom, the hole wall at the transition section 23 is a second slope, and the inclination angle of the second slope relative to the horizontal plane is smaller than that of the first slope relative to the horizontal plane, so that the pressure head 1 forms a transitional buffer position at the second slope in the sliding process of facing the first slope from the horizontal plane, and the pressure head 1 gradually slides onto the first slope, thereby enhancing the sliding stability of the pressure head 1.

As shown in fig. 3 and 4, the ram 1 includes a mounting portion 11 and a head portion 12 bent downward and formed on the mounting portion 11, the mounting portion 11 being hinged to a telescopic shaft of the cylinder.

For example, a first opening 14 is formed at the end of the mounting portion 11 opposite to the head 12, two parallel fixing shafts 13 are arranged on the mounting portion 11 in a penetrating manner, and one fixing shaft 13 passes through the first opening 14; the transition piece 32 is fixed on the telescopic shaft of the cylinder, for example, the transition piece 32 is a plate, the transition piece 32 is sleeved on the fixed shaft 13 at the notch, so that the transition piece 32 is hinged with the installation part 11 of the pressure head 1, when the installation part 11 slides onto the first slope from the horizontal plane, the installation part 11 can be timely adjusted to slide under the guidance of the first slope, the pressure head 1 is enabled to move horizontally from the initial state and is converted into inclined movement with a movement component in the vertical direction, and the pressure head 1 further achieves the compression effect on the part to be compressed.

Alternatively, the transition piece 32 is a T-shaped plate, the horizontal part of which is connected to the telescopic shaft of the first driver 31, and the vertical part of which is hinged to the fixed shaft 13 of the ram 1.

As shown in fig. 2, both ends of each fixed shaft 13 extend out of the mounting portion 11 and respectively extend into one guide hole 22, and the fixed shafts 13 slide in the guide holes 22 under the driving of the air cylinders, so that both side ends of the ram 1 are slidably disposed on the guide holes 22, thereby realizing the sliding of the ram 1 on the guide surface.

For example, as shown in fig. 3, a roller 131 is respectively disposed at both ends of the fixed shaft 13, and the roller 131 extends into the guide hole 22 and slides on the horizontally extending section, the transition section and the inclined section in the guide hole 22, thereby reducing friction when the fixed shaft 13 slides in the guide hole 22, facilitating the sliding of the fixed shaft 13 in the guide hole 22, and reducing driving force required for the cylinder driving ram 1 to slide.

As shown in fig. 3, a second notch 212 is formed at the bottom of the groove 211 at the side far away from the first driver 31, and the head 12 of the pressing head 1 more easily extends out of the groove 211 through the second notch 212, so that the pressing head 1 presses the part to be pressed under the action of the vertical component.

Because the guide hole 22 is internally provided with the horizontal plane, the second slope and the first slope, when the pressure head 1 slides in the sliding chute 211 under the drive of the air cylinder, the rollers 131 at the two ends of the fixed shaft 13 on the pressure head 1 start to slide in the horizontal extension section 221 of the guide hole 22, and correspondingly the pressure head 1 horizontally slides; when the roller 131 on the fixed shaft 13 slides on the transition section, the pressure head 1 is converted from horizontal movement to tilting movement; then, when the roller 131 on the fixed shaft 13 slides on the inclined section 222 gradually, the pressing head 1 correspondingly slides obliquely under the guide of the first slope, under the guide action of the guide surface formed by the horizontal plane, the second slope and the first slope, the initial horizontal movement of the pressing head 1 is converted into downward inclined movement with a vertical movement component, under the effect of the vertical movement component, the pressing head 1 moves vertically downwards, the head 12 of the pressing head 1 extends out of the sliding groove 211 through the second opening 212 and applies downward pressing force to the part to be pressed, and the space occupied by the pressing device in the vertical direction is reduced, so that the pressing device and the manipulator operated in the vertical direction can operate above the part to be pressed synchronously, and the assembly accuracy of the part to be pressed and other parts is ensured.

The compacting device further comprises a sliding mechanism 4 connected to the motion converting member for driving the motion converting member to slide in a horizontal direction.

For example, as shown in fig. 5, the slide mechanism 4 includes a base frame 41, two first guide rails 42, two sliders 43, a connection plate 44, and a second cylinder 45. Two first guide rails 42 horizontally extend and are fixed on the base frame 41 in parallel, two sliding blocks 43 are respectively arranged on one first guide rail 42 in a sliding manner, a connecting plate 44 is fixed on the top of the two sliding blocks 43, a second air cylinder 45 is fixed on the base frame 41, and a telescopic shaft of the second air cylinder is fixedly connected with the connecting plate 44; meanwhile, the connection plate 44 is connected with the side wall of the base 21 through the connection plate, and when the second cylinder drives the sliding block 43 on the connection plate 44 to slide on the first guide rail 42, the connection plate 44 drives the whole base 21 on the connection plate to slide so as to change the position of the pressure head 1. Alternatively, the slide mechanism 4 slides in the left-right direction in fig. 1, and the ram 1 slides in the front-rear direction on the base 21.

As a first alternative embodiment of example 1, the rollers 131 may not be disposed at both ends of the fixed shaft 13, and both ends of the fixed shaft 13 may directly extend into the guide holes 22, so that the above-mentioned guiding function may be achieved. As a modification, the number of the fixed shafts 13 may be one, three, four, or the like, and the specific number is determined according to the actual demand, without being particularly limited. As a further variant, the guide surface may also comprise no second sloping surface, or no horizontal surface, only a first sloping surface, and correspondingly the guide hole 22 is not provided with a horizontal extension 221, only an inclined section 222, and both lateral ends of the ram 1 are slidably arranged directly on the first sloping surface.

As a modification of the motion converting member, a guide hole 22 may be provided in the side wall of the slide groove 211, or the guide hole 22 may not be provided; the guide surface is directly arranged on the top surface of the side wall of the chute, or can be arranged at the bottom of the chute, the bottom surface of the pressure head 1 is directly arranged on the guide surface in a sliding way, the above-mentioned guide effect can be achieved on the movement of the pressure head 1, and the horizontal movement of the pressure head 1 is converted into the movement with a vertical movement component.

As a further modification, the motion conversion component may be not the sliding groove 211, for example, the motion conversion component is a plate, and the plate only needs to have a first slope surface, which may also perform the guiding function described above, or may be replaced by another structure, only needs to have a guiding surface on the motion conversion component, and under the action of the guiding surface, the horizontal motion of the pressing head 1 may be converted into the motion with a vertical motion component, so that the pressing head 1 may vertically press against the part to be pressed, for example, the guiding surface is a curved surface inclined from top to bottom.

As a second alternative to embodiment 1, it is also possible to dispense with a hinged connection, for example a direct fixed connection, between the first drive 31 and the ram 1. As a modification, the first driver 31 may be provided on the base 21 without being inclined, for example, horizontally on the base 21. As a further variant, the first driver 31 may be, in addition to a pneumatic cylinder, another driver, for example, a gear engaged with a rack, the rack being connected to the ram 1, the motor driving the gear to rotate, the rack driving the ram 1 to slide on a guiding surface.

As a third alternative embodiment of example 1, the sliding mechanism 4 may be replaced with any existing sliding structure, for example, a telescopic shaft using an air cylinder is directly connected to the base 21 or the motion converting member. As a further modification, the slide mechanism 4 may not be provided, and since the ram 1 has a motion component in the horizontal direction, when the ram 1 is driven by the first driver 31 to perform the retracting motion, the ram 1 can avoid the member to be pressed, so that the slide mechanism 4 is not required to be provided.

Example 2

The embodiment provides a mounting structure of forearm foundry goods and reduction gear synchronizing wheel subassembly, including workstation, closing device and manipulator in two embodiment 1. Wherein, the workbench is horizontally arranged, and the two pressing devices are oppositely arranged above the workbench; the manipulator is used for taking and placing the forearm casting and the synchronous wheel assembly of the speed reducer on the workbench.

According to the mounting structure of the embodiment, when the reducer synchronizing wheel assembly is required to be mounted on the small arm casting, the small arm casting is firstly placed on a workbench, and the reducer synchronizing wheel assembly is vertically embedded into an inner hole of the small arm casting by adopting a manipulator; meanwhile, the pressure heads 1 of the two pressing devices in the embodiment 1 extend into the inner hole of the small arm casting along the horizontal direction, downward pressing force is applied to the top of the speed reducer synchronizing wheel assembly, and the speed reducer synchronizing wheel assembly moves downward, so that the pressing devices and the mechanical arm can synchronously operate in the vertical direction, the mutual influence is avoided, the position of the speed reducer synchronizing wheel assembly can be adjusted at any time, and the speed reducer synchronizing wheel assembly and the small arm casting are ensured to be installed in place.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (8)

1. A compression device, comprising:

at least one motion conversion member having a horizontally extending guide surface comprising

A first slope surface inclined from top to bottom;

a horizontal plane extending horizontally and connected to said first ramp, said horizontal plane being adjacent to a first drive (31) relative to said first ramp;

the second slope surface is arranged between the horizontal surface and the first slope surface, and the inclination angle of the second slope surface relative to the horizontal surface is smaller than that of the first slope surface relative to the horizontal surface;

the device also comprises a pressing head (1) which is driven by the first driver (31) horizontally and is slidably arranged on the guide surface, wherein the pressing head (1) is guided by the guide surface to be converted from initial horizontal movement into movement with a movement component at least in the vertical direction;

the supporting seat (33), the supporting seat (33) is sleeved outside the first driver (31).

2. The pressing device according to claim 1, characterized in that the motion conversion means comprise a chute (211) provided on the base with a slot opening facing upwards, the guiding surface being provided on at least one side wall of the chute (211) or the guiding surface being provided at the bottom of the chute (211).

3. The pressing device according to claim 2, characterized in that two opposite guide holes (22) are respectively arranged on two side walls of the sliding chute (211), and the guide surface is formed on the wall of each guide hole (22); the two side wall ends of the pressure head (1) respectively extend into one guide hole (22).

4. A pressing device according to claim 3, further comprising at least one fixed shaft (13) penetrating the pressing head (1), wherein both side wall ends of the pressing head (1) respectively extend into one of the guide holes (22) through both ends of the fixed shaft (13).

5. A compacting apparatus as claimed in any one of claims 2-4, characterised in that said first drive (31) is arranged inclined in said chute (211) with its telescopic shaft hinged to said ram (1) by means of a transition piece (32).

6. The compression device according to any one of claims 1-4, characterized in that the ram (1) comprises a mounting portion (11) and a head portion (12) bent over the mounting portion (11);

the mounting part (11) is slidably arranged on the guide surface, and the head part (12) extends out of the motion conversion part; a drive shaft of the first driver (31) is connected to the mounting portion (11).

7. A compacting apparatus as claimed in any one of claims 1-4, characterised in that it further comprises a sliding mechanism (4) connected to said motion conversion means for driving said motion conversion means to slide in a horizontal direction.

8. The utility model provides a mounting structure of forearm foundry goods and reduction gear synchronizing wheel subassembly which characterized in that includes

A work table;

at least one hold-down device according to any one of claims 1-7 arranged above the table;

and the manipulator is used for taking and placing the forearm casting and the reducer synchronizing wheel assembly on the workbench.