CN109129426B - Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting - Google Patents
Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting Download PDFInfo
- Publication number
- CN109129426B CN109129426B CN201811115425.1A CN201811115425A CN109129426B CN 109129426 B CN109129426 B CN 109129426B CN 201811115425 A CN201811115425 A CN 201811115425A CN 109129426 B CN109129426 B CN 109129426B
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- chuck body
- clamping structure
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 49
- 238000005266 casting Methods 0.000 title claims abstract description 45
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 43
- 210000000245 forearm Anatomy 0.000 title claims abstract description 42
- 230000008093 supporting effect Effects 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000001360 synchronised effect Effects 0.000 claims abstract description 28
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 229920001971 elastomer Polymers 0.000 claims description 2
- 239000000806 elastomer Substances 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 abstract description 2
- 230000007704 transition Effects 0.000 description 12
- 230000004048 modification Effects 0.000 description 9
- 238000012986 modification Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a manipulator, a synchronous wheel assembly of a speed reducer, and a mounting structure of a wrist and a forearm casting. The manipulator comprises a mechanical arm, a clamping structure and an adjusting mechanism which is elastically connected between the mechanical arm and the clamping structure, wherein the adjusting mechanism comprises an elastic piece and a supporting piece which are arranged side by side, and an adjusting gap is reserved between one end of the supporting piece, which faces the clamping structure, and the clamping structure under the support of the elastic piece. The mounting structure of the speed reducer synchronizing wheel assembly, the wrist and the forearm casting comprises the manipulator. Due to the existence of the adjusting gap and the elastic support of the elastic piece, when the clamping structure receives the reverse acting force from the alignment shaft, the clamping structure is in inclined butt joint relative to the supporting piece to adjust the position of the clamping structure, so that the position of the part to be transferred on the alignment shaft can be adjusted, and finally the part to be transferred can be coaxially sleeved on the alignment shaft, and the subsequent parts to be transferred can be installed in place.
Description
Technical Field
The invention relates to the technical field of robot assembly, in particular to a mounting structure of a manipulator and a synchronous wheel assembly of a speed reducer, and a wrist and forearm casting.
Background
At present, when the forearm foundry goods of robot and wrist, the synchronous wheel subassembly of reduction gear are installed, need to adopt the clamping structure on the manipulator to place the forearm foundry goods on the workstation in advance, later the clamping structure centre gripping wrist and the synchronous wheel subassembly of reduction gear in proper order again establish the wrist cover respectively in the space of placing between the upper inner hole of forearm foundry goods and lower inner hole, the synchronous wheel subassembly of reduction gear is installed in the upper inner hole.
However, when the clamping structure on the existing manipulator clamps the forearm casting, the wrist or the speed reducer synchronizing wheel assembly, and then the forearm casting, the wrist or the speed reducer synchronizing wheel assembly is sleeved on the alignment shaft on the workbench, if the axis of the forearm casting, the wrist or the part of the speed reducer synchronizing wheel assembly is sleeved on the alignment shaft, the axes of the forearm casting, the wrist or the speed reducer synchronizing wheel assembly deviate, the alignment shaft can apply a reverse acting force to the forearm casting, the wrist or the speed reducer synchronizing wheel, and under the reverse acting force, the forearm casting, the wrist or the speed reducer synchronizing wheel assembly is difficult to be sleeved on the alignment shaft continuously.
Disclosure of Invention
Therefore, the invention aims to solve the technical problem that the existing manipulator is difficult to sleeve the part to be transferred on the alignment shaft, so that the installation of the subsequent part to be transferred is affected.
The invention provides a manipulator which comprises a manipulator arm, a clamping structure used for clamping a part to be transferred, and an adjusting mechanism elastically connecting the manipulator arm with the clamping structure;
the adjusting mechanism comprises at least one elastic piece and at least one supporting piece which are arranged side by side, and an adjusting gap is reserved between one end of the supporting piece facing the clamping structure and the clamping structure by the supporting of the elastic piece.
Optionally, in the above mechanical arm, the elastic members are sleeved outside the supporting members in a one-to-one correspondence manner, and two ends of the elastic members respectively abut against the clamping structure and the mechanical arm.
Further alternatively, in the above manipulator, one end of the support member facing the manipulator is fixed on the manipulator, an annular step is provided at an end of the other end of the support member facing the first base of the clamping structure, the other end is threaded into a mounting hole in the first base, and the adjustment gap is formed between the annular step and the first base; one end of the elastic piece facing the first base is abutted against the first base.
Optionally, in the above mechanical arm, the mounting hole is a tapered hole, and a short side of the tapered hole is close to the annular step; the periphery of the part of the support piece penetrating through the mounting hole is provided with a conical convex edge protruding outwards in the radial direction, and the conical convex edge is suitable for being inserted into the conical hole.
Optionally, the manipulator further comprises at least one elastic body arranged between the manipulator arm and the clamping structure side by side with the support member.
Optionally, the manipulator above, the clamping structure includes a first base;
at least one set of first and second chuck bodies, which are opposite and slidable, disposed on the first base;
at least one first clamping part is respectively arranged on the inner side walls of the first chuck body and the second chuck body which face each other, and the at least two first clamping parts are suitable for clamping the part to be transferred from the periphery of the part to be transferred; and/or
The outer side walls of the first chuck body and the second chuck body, which are opposite to the first clamping part, are respectively provided with at least one second clamping part, and at least two second clamping parts are suitable for extending into the inner cavity of the part to be transferred to clamp the part to be transferred.
Further optionally, in the manipulator, the first clamping portion is a first protrusion formed on an inner side wall of the first chuck body or the second chuck body in an inward protruding manner.
Optionally, in the manipulator, an outer sidewall of the first chuck body and/or the second chuck body is used as the second clamping portion.
Optionally, in the manipulator, at least one third clamping portion is further provided on an outer sidewall of the first chuck body and/or the second chuck body, respectively; at least two of the third clamping portions are suitable for extending into the inner cavity of the to-be-transferred component to clamp the to-be-transferred component.
Optionally, in the manipulator, the third clamping portion is a first groove disposed on an outer sidewall of the first chuck body or the second chuck body and recessed from outside to inside; the notch of the first groove faces away from the first clamping part and is used for the flange of the part to be transferred to extend in.
The invention also provides a mounting structure of the synchronous wheel assembly of the speed reducer, the wrist and the forearm casting, which is characterized by comprising
A work table;
the positioning shaft is telescopically arranged on the workbench, the shaft sleeve is fixed on the workbench and sleeved outside the positioning shaft, the shaft sleeve is suitable for sleeving an inner hole of the forearm casting, and the positioning shaft is sleeved by the wrist and speed reducer synchronous wheel assembly;
a manipulator according to any one of the preceding claims.
The technical scheme provided by the invention has the following advantages:
1. according to the manipulator provided by the invention, the adjusting mechanism is arranged between the manipulator and the clamping structure so as to form elastic connection between the manipulator and the clamping structure, the adjusting mechanism comprises the elastic piece and the supporting piece which are arranged side by side, and an adjusting gap is reserved between one end of the supporting piece facing the clamping structure and the clamping structure under the support of the elastic piece.
When the clamping structure clamps the part to be transferred, part of the part to be transferred is sleeved on the alignment shaft, even if deviation exists between the part to be transferred and the axis of the alignment shaft, the alignment shaft applies reverse force to the part to be transferred, so that the clamping structure extrudes the spring, the clamping structure is in inclined butt joint relative to the supporting piece due to the existence of the adjusting gap to adjust the position of the clamping structure, the position of the part to be transferred on the alignment shaft is adjusted, and finally the part to be transferred can be coaxially sleeved on the alignment shaft, so that a plurality of subsequent parts to be transferred can be installed in place.
2. According to the manipulator provided by the invention, the mounting hole on the first base of the clamping structure is a conical hole, and the short side of the conical hole is close to the annular step; the outer periphery of the part of the support piece penetrating the mounting hole is provided with a conical convex edge protruding outwards in the radial direction, and the conical convex edge is suitable for being inserted into the conical hole. Under the initial state, under the cooperation of bell mouth and toper protruding edge for support piece plays the supporting role to the clamp structure, and still there is foretell adjustment clearance, when realizing above-mentioned adjusting role, can also increase the stability that the elastic component supported the clamp structure.
3. The manipulator provided by the invention, the adjusting mechanism further comprises at least one elastic body which is arranged between the manipulator and the clamping structure side by side with the supporting piece. The elastic body is arranged, so that elastic connection is further formed between the clamping structure and the mechanical arm, the adjustment of the position of the clamping structure is increased, and the parts to be transferred on the clamping structure can be coaxially sleeved on the alignment shaft.
4. The invention provides a manipulator, which comprises at least one group of first chuck body and second chuck body which are opposite and slidable, wherein the inner side walls of the first chuck body and the second chuck body are respectively provided with a first clamping part, and the two first clamping parts enclose a clamping area to realize that one part to be transferred is clamped from the periphery of the part to be transferred; simultaneously, be equipped with a second clamping part on the lateral wall of first chuck body and second chuck body respectively for in the second clamping part stretches into the inner chamber of waiting to transfer the part, treat to transfer the part centre gripping, first clamping part and second clamping part do not influence each other, thereby make this clamp structure can carry out the centre gripping to the part of waiting to transfer of different appearance structures, simplify the structure of whole manipulator.
5. According to the manipulator provided by the invention, the third clamping parts are arranged on the outer side walls of the first chuck body and the second chuck body, and are similar to the second clamping parts and extend into the inner cavity of the part to be transferred to clamp the part to be transferred, so that the clamping structure can be used for grabbing the parts to be transferred with three different appearance structures, and the application range of the clamping structure is further increased.
6. According to the manipulator provided by the invention, the first groove is formed by surrounding the second groove and the clamping block, so that the third clamping part is formed, the elastic buffer piece is arranged on the clamping block, one end of the elastic buffer piece stretches into the first groove, when the first groove is sleeved on the flange on the inner cavity surface of the part to be transferred, the flange stretches into the first groove and is abutted against the elastic buffer piece, the elastic buffer piece is compressed and exerts reverse supporting force on the flange, so that the flange is limited in the first groove, the flange is prevented from sliding out from the first groove, and the clamping function of the third clamping part on the flange of the part to be transferred is further enhanced.
7. The invention provides a mounting structure of a speed reducer synchronizing wheel assembly, a wrist and a forearm casting, which comprises a workbench; the alignment shaft is telescopically arranged on the workbench, and is used for sleeving an inner hole of the forearm casting, and the wrist and the reducer synchronizing wheel assembly; a manipulator according to any one of the preceding claims.
According to the mounting structure, due to the adoption of the manipulator, under the adjustment action of the adjusting mechanism, the clamping structure can coaxially and respectively sleeve the corresponding shaft sleeve and the corresponding alignment shaft with the forearm casting, the wrist and the synchronous wheel assembly of the speed reducer, so that the subsequent wrist and the synchronous wheel assembly of the speed reducer are ensured to be mounted in place on the forearm casting.
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 manipulator (manipulator arm display part structure) provided in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram illustrating the cooperation of the adjustment mechanism and the clamping mechanism of the manipulator of FIG. 1;
FIG. 3 is a schematic view of an adjustment structure of the manipulator of FIG. 1;
FIG. 4 is a schematic longitudinal cross-sectional view of the adjustment structure of FIG. 3 (with the elastic member removed);
FIG. 5 is a schematic view of a clamping structure of the manipulator of FIG. 1;
FIG. 6 is an assembled schematic view of two sets of first and second chuck bodies of the clamping structure of FIG. 5;
FIG. 7 is a schematic view of the first chuck body or the second chuck body of the clamping structure of FIG. 5;
FIG. 8 is a left side schematic view of the chuck body of FIG. 7;
FIG. 9 is an exploded view of the forearm casting, wrist and speed reducer synchronizing wheel assembly of example 1 of the invention;
figure 10 is a schematic longitudinal cross-section of the wrist of figure 9;
FIG. 11 is a schematic longitudinal cross-sectional view of the forearm casting of FIG. 9;
FIG. 12 is a schematic view of a driving mechanism of the clamping structure of FIG. 5;
FIG. 13 is a schematic view of the assembled workbench, the assembled synchronous wheel assembly of the decelerator, the assembled synchronous wheel assembly of the wrist and the assembled arm casting in the mounting structure of the arm casting and the decelerator synchronous wheel assembly provided in embodiment 5 of the present invention;
FIG. 14 is a schematic view of the structure of the bushing and alignment shaft on the table of FIG. 13;
reference numerals illustrate:
a-a clamping structure; a1-a first chuck body; a2-a second chuck body; a11-a first clamping portion; a12-a second clamping part; a13-a third clamping portion; a14-a second groove; a15-clamping blocks; a16-elastic buffer; a 17-a second projection;
a21—a synchronizing wheel; a22-wrist; a221-a first step; a 23-forearm casting; a 231-flange;
a3-a driving mechanism; a31-a first base; a321-a first drive plate; a 322-a second drive plate; a323-a first axis; a 324-second axis; a 325-a third axis; a 326-a guide hole; a 33-a guide rail; a 34-a slider; a 351-a first mounting plate; a 352-second mounting plate; a 36-cylinder;
a 37-support; a 38-a limit column; a 39-a mechanical arm; a 391-a base;
c-an adjusting mechanism; c1-an elastic member; c 2-a support; c21-a conical flange; c22-annular steps; c 3-an elastomer; c 4-a transition plate; c 41-mounting holes; c5-adjusting the gap;
d1-shaft sleeve; d 2-para-axis.
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 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 manipulator, as shown in fig. 1 and 2, which includes a manipulator arm a39, a clamping structure a, and an adjusting mechanism c.
The mechanical arm a39 is fixed with a base a391, the base a391 is elastically connected with the clamping structure a by the adjusting mechanism c, when the clamping structure a receives external reverse acting force, the adjusting mechanism c can adjust the position of the clamping structure, and then adjust the position of the part to be transferred clamped on the clamping structure, so that the part to be transferred is coaxially sleeved on the alignment shaft d2.
As shown in fig. 2, 3 and 4, the adjusting mechanism c includes three elastic members c1, three supporting members c2 and an elastic body c3. Each elastic member c1 may be a spring, which is sleeved on the supporting member c2 in a one-to-one correspondence manner, and two ends of the spring are respectively abutted on the base a391 and a first base a31 (mentioned below) of the clamping structure.
Each supporting member c2 is optionally a cylinder, one end of the supporting member c2 facing the base a391 is fixed on the base a391, the periphery of the other end facing the first base a31 is provided with an annular step c22, and the other end facing the first base a31 extends into a mounting hole c41 on the first base a31 of the clamping structure a, and an adjusting gap c5 is formed between the step surface of the annular step c22 and the first base a31 under the supporting action of the spring.
For example, the mounting hole c41 is a tapered hole, and the short side of the tapered hole is close to the annular step c22; the support member c2 is provided with a tapered convex edge c21 protruding radially outwards on the periphery of the portion penetrating the mounting hole c41, the tapered convex edge c21 is suitable for being inserted into the tapered hole, correspondingly, the short side of the tapered convex edge c21 is close to the annular step c22, the tapered hole is matched with the tapered convex edge c21, the support member c2 can support the first base a31 and the clamping structure a in an initial state, when the clamping structure is subjected to external supporting force, the clamping structure compresses the spring, so that the tapered hole of the first base a31 gradually slides to the annular step c22 from the tapered convex edge c21 and finally abuts against the annular step c 22.
Optionally, a transition plate c4 is parallel and fixedly arranged on the first base a31, the mounting hole c41 is formed on the transition plate c4, and two ends of the spring are respectively abutted on the transition plate c4 and the base a391, so that the adjusting mechanism is mounted between the transition plate and the base, and the adjusting mechanism is convenient to mount or dismount.
The three elastic members c1 and the three supporting members c2 form three sets of adjustment members between the base a391 and the transition plate, for example, as shown in fig. 9, 13 and 14, it is necessary to insert the decelerator synchronizing wheel assembly a211 of the robot into the upper inner hole a232 of the forearm casting.
An alignment shaft d2 is coaxially arranged in an upper inner hole a232 of the small arm casting in advance, a clamping structure clamps the synchronous wheel, the speed reducer synchronous wheel assembly a211 is embedded into the upper inner hole a232 and is sleeved on the alignment shaft d2 after being firstly pressed against the alignment shaft d2, if the axis of the speed reducer synchronous wheel assembly a211 deviates from the axis of the alignment shaft d2 and the axis of the upper inner hole a232, the alignment shaft d2 applies reverse acting force to the speed reducer synchronous wheel assembly, the reverse acting force drives a transition plate to squeeze a spring and move towards an annular step c22, due to an adjusting gap c5, the clamping structure and the speed reducer synchronous wheel assembly are integrally moved towards the annular step c22, the position of the clamping structure a can be adjusted, the clamping structure a is inclined, the position of the speed reducer synchronous wheel assembly a211 is changed, the axis of the speed reducer synchronous wheel assembly a211 is adjusted on the alignment shaft d2, the axis of the speed reducer synchronous wheel assembly is enabled to coincide with the axis of the alignment shaft d2, the speed reducer synchronous wheel assembly is coaxially sleeved on the alignment shaft d2, the transition plate presses the spring towards the annular step c22, and the speed reducer synchronous wheel assembly is coaxially pressed down along with the upper inner hole pressing mechanism, and the speed reducer synchronous wheel assembly can be coaxially sleeved on the speed reducer synchronous wheel assembly.
In addition, the synchronizing wheel a21 is not shown in fig. 14, the synchronizing wheel a21 is located at the uppermost end of the speed reducer synchronizing wheel assembly 211 in fig. 14, and the synchronizing wheel is sleeved on the shaft shown in fig. 14.
As shown in fig. 3, the adjusting mechanism c further includes an elastic body c3 disposed parallel to the supporting member c2, two ends of the elastic member c1 are respectively transited on the base a391 and the transition plate c4, and the elastic body c3 is disposed, so that the elastic connection between the clamping structure and the mechanical arm a39 is enhanced, the supporting force of the clamping structure is greater, the elastic deformation of the elastic body c3 also increases the buffering and adjusting effects of the adjusting mechanism c on the position of the clamping structure.
For example, the elastic body c3 is a cylinder, a plurality of deformation gaps c31 are arranged on the side wall of the cylinder at intervals, the deformation gaps c31 are distributed in a layer, two adjacent deformation gaps c31 located on the same layer are isolated, the more the deformation gaps c31 are arranged, the larger the elastic deformation amount of the elastic body c3 is, and the stronger the adjusting effect on the clamping structure is. Alternatively, the elastic body c3 is located in an inner cavity surrounded by the three supporting pieces c 2.
As shown in fig. 5 to 8, the clamping structure includes a first base a31, two sets of first and second chuck bodies a1 and a2 that are opposite and slidably disposed on the first base a31, and a driving mechanism a3. As shown in fig. 6 and 7, a first clamping portion a11 is respectively arranged on the inner side wall surface facing each other of the first chuck body a1 and the second chuck body a2 in each group; the outer side wall facing away from the first clamping part a11 is respectively provided with a second clamping part a12 and a third clamping part a13.
Wherein, a first clamping area is defined between four first clamping portions a11 in the two groups, and the first clamping portions a11 are suitable for clamping the first part to be transferred from the periphery of the first part to be transferred; four second clamping parts a12 in the two groups are suitable for extending into the inner cavity of the second part to be transferred to clamp the second part to be transferred; the four third clamping portions a13 in the two groups are suitable for extending into the inner cavity of the third component to be transferred to clamp the third component to be transferred.
For example, as shown in fig. 9, the first part to be transferred is a synchronizing wheel a21 in a reducer synchronizing wheel assembly of the robot, the second part to be transferred is a wrist a22 of the robot, and the third part to be transferred is a forearm casting a23 of the robot, and the specific structure of the three clamping parts in the embodiment will be described by taking the three parts to be transferred as an example.
The first clamping portion a11, the second clamping portion a12, and the third clamping portion a13 on the first chuck body a1 and the second chuck body a2 are the same, and the first clamping portion, the second clamping portion, and the third clamping portion on the first chuck body a1 will now be described as examples.
As shown in fig. 6, 7 and 8, the first clamping portion a11 is a first protrusion protruding from an inner sidewall of the first chuck body a1, and the inner sidewall of the first protrusion is tightly abutted against an outer circumferential surface of the synchronizing wheel a21, so that the plurality of first protrusions clamp the synchronizing wheel a21 from different positions on the outer circumferential surface of the synchronizing wheel a21, thereby realizing the clamping and grabbing functions of the synchronizing wheel a 21.
For example, the inner side wall surface of the first bulge is an arc-shaped surface which is matched with the radian of the outer peripheral wall surface of the synchronizing wheel a21, so that the arc-shaped surface of the first bulge can be abutted on the outer peripheral surface of the synchronizing wheel a21 in a larger area, the acting point of the first bulge on the synchronizing wheel a21 is increased, and the function of firmly clamping the synchronizing wheel a21 by a plurality of first bulges is further ensured.
As shown in fig. 7, the outer side wall of the first chuck body a1 is provided with a second groove a14 recessed from outside to inside, and the notch of the second groove a14 faces away from the first clamping part a11, and optionally, the second groove a14 is a through groove; and the clamping block a15 is embedded in the second groove a14 and is fixed on one side wall of the second groove a14, and a first groove is formed between the clamping block a15 and the other side wall of the second groove a 14. Wherein, the first groove is used as a third clamping part a13, and the outer side wall of the clamping block a15 is used as a second clamping part a12.
When the four second clamping portions a12 clamp the wrist a22, the first chuck body a1 and the second chuck body a2 extend into the inner cavity of the wrist a22, the outer side wall of the clamping block a15 tightly abuts against the inner cavity wall surface of the wrist a22, and an acting point is formed on the inner cavity surface of the wrist a22, so that the clamping effect on the wrist a22 is realized.
As shown in fig. 7 and 8, the outer sidewall of the first chuck body a1 is convexly provided with a second protrusion a17, the protruding directions of the second protrusion a17 and the first protrusion are just opposite, the first protrusion protrudes inwards, and the second protrusion a17 protrudes outwards. As shown in fig. 10, a first step a221 is provided on the inner cavity wall surface of the wrist a22 correspondingly in an inward protruding manner; the end face of the second projecting portion a17 facing the first step a221 overlaps the step face of the first step a 221.
The second protruding part a17 is lapped on the first step a221, the first step a221 plays a limiting role on the second protruding part a17, and the first chuck body and the second chuck body are prevented from sliding out of the inner cavity of the wrist a22, so that the second clamping part a12 can still clamp the inner cavity of the wrist a22 under the limiting role of the second protruding part and the first step a 221.
As shown in fig. 8 and 11, a third clamping part a13 formed by the first groove is correspondingly provided with an inward protruding flange a231 on the inner cavity wall surface of the small arm casting a23, and the flange a231 is inserted into the first groove, so that the clamping function of the third clamping part a13 on the small arm casting a23 is realized.
As shown in fig. 7, a notch is formed at the end of each clamping block a15 close to the first groove, and the outer side wall of the notch is communicated with the outside. The clamping structure further comprises an elastic buffer member a16 embedded in the notch, and a part of the elastic buffer member a16 extends out of the clamping block a15 and into the second groove a 14.
For example, the elastic buffer member a16 is a spring plunger, the plug of the spring plunger penetrates into the first groove under the bias of the spring, when the flange a231 of the inner cavity of the forearm casting a23 is inserted into the first groove, the flange applies extrusion force to the plug, after the flange a231 stretches into the first groove, the extruded plug plays a supporting role on the flange a231 in the opposite direction, so that the flange a231 is tightly clamped in the first groove, and the clamping effect of the third clamping part a13 on the inner cavity of the forearm casting a23 is ensured.
The first chuck body a1 also has a base for mounting the first chuck body a1 on the drive mechanism a3.
As shown in fig. 6, two first chuck bodies a1 in the two groups are fixed to one first mounting plate a351, and two second chuck bodies a2 are fixed to one second mounting plate a 352; the first mounting plate a351 and the second mounting plate a352 are each shaped like a Chinese character 'ji'. The first mounting plate a351 is disposed in parallel with the second mounting plate a352 and the first and second chuck bodies a1 and a2 are mounted on sidewalls of the first and second mounting plates a351 and a352, respectively, and are located in a space between the first and second mounting plates a351 and a352.
As shown in fig. 5 and 12, the driving mechanism a3 is mounted on the first base a31, and the driving mechanism a3 includes two guide rails a33, four sliders a34, a first driving plate a321, a second driving plate a322, and a cylinder a36.
The first driving plate a321 and one end of the second driving plate a322 are hinged through a first shaft a323, the telescopic shaft of the air cylinder a36 is sleeved on the first shaft a323, and the other ends of the first driving plate a321 and the second driving plate a322 are respectively connected with the first mounting plate a351 and the second mounting plate a352. The first base a31 is further provided with a guide hole a326 extending along the expansion and contraction direction of the expansion and contraction shaft of the cylinder, and one end of the first shaft a323 extends into the guide hole a326 to perform a linear guide function on the sliding of the first shaft.
For example, the first driving plate a321 is connected to the top of the first mounting plate a351 through the second shaft a324, and the second driving plate a322 is connected to the top of the second mounting plate a352 through the third shaft 325.
Alternatively, the longitudinal cross-sections of the first and second shafts a323 and a324 are formed in a T shape, the horizontal portion of the T shape overlapping on the top of the "figure", and the vertical portion of the T shape passing through the top of the "figure and being connected to the respective corresponding drive plate.
The two guide rails a33 are arranged on the first base a31 in parallel, and two ends of the first mounting plate a351 and the second mounting plate a352 which are shaped like a Chinese character 'ji' are respectively fixed with one sliding block a34 and are slidably arranged on the two guide rails a 33; the extension direction of the extension shaft of the cylinder a36 is perpendicular to the extension direction of the guide rail a 33.
When the cylinder a36 drives the first driving plate a321 and the second driving plate a322 to do telescopic motion, the first mounting plate a351 and the second mounting plate a352 are driven to slide on the guide rail a33 so as to change the distance between the first chuck body a1 and the second chuck body a2, so that the first chuck body a1 and the second chuck body a2 extend into the inner cavity of the wrist a22, the inner cavity of the forearm casting a23, or are positioned at the periphery of the synchronizing wheel a21, the first clamping part a11 clamps the synchronizing wheel a21, the second clamping part a12 clamps the wrist a22, and the third clamping part a13 can clamp the forearm casting a23. Of course, the first clamping portion a11 can also be used for clamping synchronous wheels a21 with different sizes, the second clamping portion a12 can be used for clamping wrist portions a22 with different sizes, and the third clamping portion a13 can be used for clamping forearm castings a23 with different sizes.
In the clamping structure, as the first clamping part a11 is arranged on the inner side wall of the first clamping head body a1 and the second clamping head body a2 which are opposite in any group, the second clamping part a12 and the third clamping part a13 are arranged on the outer side wall of the clamping structure, and the first clamping part, the second clamping part and the third clamping part are mutually independent, the clamping function of the synchronous wheel a21, the wrist a22 and the forearm casting a23 can be realized by the clamping structure, and the clamping structure can clamp to-be-transferred parts with different appearance structures.
As shown in fig. 5, the first base a31 is further provided with a support a37 in a shape of a "table", the clamping structure further includes two limiting posts 38 fixed on the support a37, the support a37 is just located between the first chuck body a1 and the second chuck body a2, and when the first clamping portion a11 is used for clamping the synchronizing wheel a21 in the speed reducer synchronizing wheel assembly, the two limiting posts a38 are respectively inserted into the mounting wheel for fixing the synchronizing wheel a21 on the speed reducer synchronizing wheel assembly, so that the speed reducer assembly is limited as a whole.
As a first alternative embodiment of example 1, in the above-described clamping structure, only one set of the first chuck body a1 and the second chuck body a2 may be provided; or three groups, four groups, five groups and the like, and the number of the groups of the first chuck body a1 and the second chuck body a2 is specifically set according to actual use conditions. Preferably, all the first clamping portions a11 are distributed over one circumference, all the second clamping portions a12 are distributed over one circumference, and all the third clamping portions a13 are distributed over one circumference. Of course, all the first clamping portion a11, the second clamping portion a12 and the third clamping portion a13 may not be distributed on one circumference, and only need to adapt to the clamping position of the component to be transferred.
As a second alternative embodiment of example 1, the first base a31 may not be provided with a support and a limiting post, and the first clamping portion a11 is only used to clamp the component to be transferred (for example, the synchronizing wheel a21 of the speed reducer synchronizing wheel assembly).
As a third alternative embodiment of embodiment 1, the inner side wall surface of the first protrusion may be a surface with another shape, and only two opposite inner side wall surfaces of the first clamping portion a11 are required to be matched and can abut against the outer wall surface of the member to be transferred, so as to achieve the clamping function. Such as a conical surface or a diamond surface, etc. As a further modification, the first clamping portion a11 may have other structures besides the first protrusion, for example, a groove formed on the inner sidewall of the first chuck body a1, and correspondingly, an outer sidewall of the component to be transferred is provided with a protruding edge protruding outwards, and the clamping function may also be achieved by inserting the protruding edge into the groove.
Alternatively, the inner wall surface of the first chuck body a1 and the inner wall surface of the second chuck body a2 may be formed as one first clamping portion a11, respectively. In addition, the number of the first clamping portions a11 respectively provided on the first chuck body a1 and the second chuck body a2 is at least one, for example, two, three, four, etc., and the specific number may be determined according to the actual use situation.
As a fourth alternative embodiment of example 1, the second clamping portion a12 may also be provided independently of the third clamping portion a13, with the outer side wall of the first chuck body a1 or the outer side wall of the second chuck body a2 directly serving as the second clamping portion a12. As a variant, the second clamping portion a12 may also be provided as a recess, or a projection, like the third clamping portion a13, to extend into the inner cavity of the component to be transferred, exerting a clamping force on the inner cavity wall of the component to be transferred, achieving a clamping function of the component to be transferred. The number of the second clamping parts a12 arranged on the first chuck body a1 or the second chuck body a2 is at least one, for example, two, three, four, etc., and the specific arrangement number is determined according to actual requirements.
Example 2
The present embodiment provides a manipulator, which is different from the manipulator provided in embodiment 1 in that:
in this embodiment, the spring plungers in the clamping structure of the manipulator may be replaced by springs, or other existing elastic buffering elements, and the number of the elastic buffering elements a16 may be one, two, three, four, etc., and the specific number is determined according to actual requirements. Alternatively, the elastic buffer a16 may not be provided, and only the first groove may be relied on to hold the member to be transferred.
As a modification, the third clamping portion a13 may be provided with a first groove recessed from outside to inside on the outer side walls of the first chuck body a1 and the second chuck body a2 independently of the second clamping portion a12. The first groove can also be replaced by other structures, such as a protrusion, and a groove is correspondingly arranged on the wall surface of the inner cavity of the part to be transferred, and the protrusion is inserted into the groove to clamp the part to be transferred.
The first chuck body a1 and the second chuck body a2 in the clamping structure are not provided with the third clamping part a13, and only provided with the first clamping part a11 and the second clamping part a12 to respectively clamp the two components to be transferred. The second clamping portion a12 can also clamp the forearm casting.
Example 3
The present embodiment provides a manipulator, which is different from the manipulator provided in embodiment 1 or embodiment 2 in that:
the driving mechanism a3 in the clamping structure in the robot may be replaced with other driving mechanisms, for example, a clamping cylinder is separately provided, and the first mounting plate a351 and the second mounting plate a352 are respectively fixed on two sliding portions of the clamping cylinder, thereby changing the interval between the first chuck body a1 and the second chuck body a 2.
As a modification, only one set of the first chuck body a1 and the second chuck body may be provided, and accordingly, the first chuck body a1 and the second chuck body a2 may be directly fixed to one slider a34 without providing the first mounting plate a351 and the second mounting plate a352. Or, a plurality of groups of first chuck bodies a1 and second chuck bodies a2 are provided, each group comprises a first chuck body a1 and a second chuck body which are oppositely arranged, for example, three groups, four groups, five groups and the like are provided, the specific number of the groups is determined according to the actual requirement, when the clamping strength is required to be high, more groups can be provided, and conversely, fewer groups are provided.
Example 4
The present embodiment provides a manipulator, which is different from the manipulator provided in embodiment 1 or embodiment 2 or embodiment 3 in that:
the elastic body c3 in the adjusting mechanism c can be replaced by a spring or an elastic body similar to a coupler, the number of the elastic bodies c3 can be one, two, three, four and the like, the specific number is determined according to actual requirements, and as a further variant, the elastic body c3 is not arranged in the adjusting mechanism c, and the clamping structure can be supported and adjusted by means of the action of the elastic piece c1 and the supporting piece c 2.
As a first alternative embodiment of example 4, the mounting hole c41 may be a tapered hole, and the tapered protruding edge c21 may be provided only on the support member c2, and when the spring is not subjected to the reverse pressing force of the structure to be clamped, the mounting hole c41 on the transition plate c4 abuts against the tapered protruding edge c21, and the support member c2 supports the clamping structure, and when the spring is subjected to the pressing force of the clamping structure, the mounting hole c41 on the first base a31 slides along the tapered protruding edge c21 toward the annular step. As a further modification, the mounting hole c41 is not in contact with the end of the support member c2 extending into the mounting hole c41, and the supporting force of the first substrate is mainly from the elastic member c1.
As a further modification, the outer periphery of the support member c2 may not be provided with an annular step, an adjustment gap c5 is formed between the end face of the support member c2 facing the clamping structure and the first base a31, and the end of the support member c2 facing the clamping structure does not extend into the mounting hole c41, and at this time, the transition plate may not be provided with a mounting hole.
As a further modification, the adjusting mechanism may be directly disposed between the first base and the base without providing a transition plate, the elastic member c1 may also be an independent supporting member c2, two ends of which are disposed in parallel on the first base a31 and the base a391, respectively, and an adjusting gap c5 is formed between one end of the supporting member c2 facing the first base a31 and the first base a31 under the supporting action of the elastic member c1.
In addition, for the number of the elastic members c1 and the number of the supporting members c2, at least one elastic member c1, such as one, two, three, four, etc., and at least one supporting member c2, such as one, two, three, four, etc., may be provided, and the number of the supporting members c2 and the number of the elastic members c1 may not be in one-to-one correspondence.
As a modification of the above embodiment, the base a391 may not be provided on the robot arm a39, the first base a31 may not be provided on the clamping structure, and the clamping structure may be replaced by another clamping structure, and the at least one elastic member c1 and the at least one supporting member c2 may be directly provided between the robot arm a39 and the clamping structure in parallel.
Example 5
The embodiment provides a mounting structure of a synchronous wheel assembly of a speed reducer, a wrist and a small arm casting, as shown in fig. 13 and 14, comprising a workbench, a positioning shaft d2 telescopically arranged on the workbench, and a shaft sleeve d1 fixed on the workbench and coaxially sleeved on the positioning shaft d2. The shaft sleeve d1 is used for sleeving a lower inner hole a233 of the forearm casting, and positioning the shaft center of the forearm casting a23 on the workbench; the alignment shaft d2 is sleeved by the wrist and speed reducer synchronizing wheel assembly a211 so as to align the axis of the wrist and speed reducer synchronizing wheel assembly on the forearm casting.
In the mounting structure of this embodiment, since the manipulator in the above embodiment is adopted, the positions of the forearm casting (using the third clamping portion), the wrist (using the second clamping portion), and the speed reducer synchronizing wheel assembly (the first clamping portion) clamped on the clamping structure on the shaft sleeve d1 and the alignment shaft d2 are adjusted by the adjusting mechanism c on the manipulator, so that the lower inner hole a233 of the forearm casting a23 is coaxially sleeved on the shaft sleeve d1, and the forearm casting a23 is positioned.
As shown in fig. 13, the wrist a22 is first inserted into the placement space between the upper inner hole a232 and the lower inner hole a233 of the forearm casting, at this time, the alignment shaft d2 first makes a retracting motion, so that the alignment shaft d2 first avoids the placement space, after the wrist a22 is inserted into the placement space, the alignment shaft d2 makes an upward motion, and extends into the inner hole a222 on the wrist a22, and the position of the wrist a22 is changed by the adjusting mechanism of the manipulator, so that the alignment shaft d2 can coaxially extend into the inner hole a222 of the wrist a 22; after the wrist a22 is mounted on the forearm casting a23, the speed reducer synchronizing wheel assembly is mounted, and the mounting process is the same as that of the speed reducer synchronizing wheel assembly in the embodiment 1, so that the wrist and the speed reducer synchronizing wheel assembly can be coaxially mounted on the forearm casting, and the mounting of three components is ensured.
The sleeve d1 also corresponds to a kind of alignment shaft d2.
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 (11)
1. A manipulator characterized by comprising a manipulator arm (a 39), a clamping structure for clamping a component to be transferred, and an adjusting mechanism (c) for elastically connecting the manipulator arm (a 39) with the clamping structure;
the adjusting mechanism (c) comprises at least one elastic piece (c 1) and at least one supporting piece (c 2) which are arranged side by side, at least part of the supporting piece (c 2) is not contacted with the abutting part of the clamping structure, so that a first adjusting gap (c 6) is formed, the supporting piece (c 2) faces one end of the clamping structure and a second adjusting gap (c 5) is reserved between the clamping structure by the supporting of the elastic piece (c 1), and when the clamping structure is pressed by pressure, the clamping structure is obliquely abutted against the supporting piece (c 2) by the first adjusting gap (c 6) and the second adjusting gap (c 5).
2. The manipulator according to claim 1, wherein the elastic members (c 1) are sleeved outside the supporting member (c 2) in a one-to-one correspondence, and two ends of the elastic members are respectively abutted against the clamping structure and the manipulator arm (a 39).
3. The manipulator according to claim 2, characterized in that one end of the support (c 2) facing the manipulator arm (a 39) is fixed to the manipulator arm (a 39), the other end of the support facing the first base (a 31) of the gripping structure is provided with an annular step, the other end is threaded into a mounting hole (c 41) in the first base (a 31), and the annular step and the first base (a 31) form the adjustment gap (c 5); one end of the elastic piece (c 1) facing the first base (a 31) is abutted against the first base (a 31).
4. A manipulator according to claim 3, wherein the mounting hole (c 41) is a conical hole, the short side of which is close to the annular step; the periphery of the part of the supporting piece (c 2) penetrating the mounting hole (c 41) is provided with a conical convex edge (c 21) protruding outwards in the radial direction, and the conical convex edge (c 21) is suitable for being inserted into the conical hole.
5. The manipulator according to any of claims 1-4, wherein the adjustment mechanism (c) further comprises at least one elastomer (c 3) arranged alongside the support (c 2) between the manipulator arm (a 39) and the gripping structure.
6. The manipulator according to any of claims 1-5, wherein the gripping structure comprises a first base (a 31);
at least one set of opposing and slidable first (a 1) and second (a 2) collet bodies disposed on the first base;
at least one first clamping part (a 11) is respectively arranged on the inner side walls of the first chuck body (a 1) and the second chuck body (a 2) which face each other, and at least two first clamping parts (a 11) are suitable for clamping a part to be transferred from the periphery of the part to be transferred; and/or
At least one second clamping part (a 12) is respectively arranged on the outer side walls of the first clamping part (a 11) side opposite to the first clamping part (a 1) and the second clamping part (a 2), and at least two second clamping parts (a 12) are suitable for extending into the inner cavity of the part to be transferred to clamp the part to be transferred.
7. The manipulator according to claim 6, wherein the first clamping portion (a 11) is a first protrusion formed protruding inwardly on an inner sidewall of the first chuck body (a 1) or the second chuck body (a 2).
8. The manipulator according to claim 6 or 7, characterized in that an outer sidewall of the first chuck body (a 1) and/or the second chuck body (a 2) serves as the second clamping portion (a 12).
9. The manipulator according to any of the claims 6-8, wherein the outer side walls of the first and/or second chuck body (a 1, a 2) are further provided with at least one third gripping portion (a 13), respectively; at least two of said third clamping portions (a 13) are adapted to extend into the inner cavity of the component to be transferred to clamp the component to be transferred.
10. The manipulator according to claim 9, wherein the third clamping portion (a 13) is a first groove provided on an outer sidewall of the first chuck body (a 1) or the second chuck body (a 2) and recessed from outside to inside; the notch of the first groove faces away from the first clamping part (a 11) and is used for the flange of the part to be transferred to extend in.
11. The utility model provides a mounting structure of reduction gear synchronizing wheel subassembly, wrist and forearm foundry goods which characterized in that includes
A work table;
the positioning shaft (d 2) is telescopically arranged on the workbench, the shaft sleeve (d 1) is fixed on the workbench and sleeved outside the positioning shaft (d 2), the shaft sleeve (d 1) is suitable for sleeving an inner hole of the forearm casting, and the positioning shaft (d 2) is used for sleeving a wrist and a reducer synchronous wheel assembly;
the manipulator of any one of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115425.1A CN109129426B (en) | 2018-09-25 | 2018-09-25 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115425.1A CN109129426B (en) | 2018-09-25 | 2018-09-25 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
Publications (2)
| Publication Number | Publication Date |
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| CN109129426A CN109129426A (en) | 2019-01-04 |
| CN109129426B true CN109129426B (en) | 2024-03-29 |
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| CN201811115425.1A Active CN109129426B (en) | 2018-09-25 | 2018-09-25 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
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| CN109129426A (en) | 2019-01-04 |
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