CN109531628A - A kind of robot wrist's assembling and setting device - Google Patents
A kind of robot wrist's assembling and setting device Download PDFInfo
- Publication number
- CN109531628A CN109531628A CN201811653041.5A CN201811653041A CN109531628A CN 109531628 A CN109531628 A CN 109531628A CN 201811653041 A CN201811653041 A CN 201811653041A CN 109531628 A CN109531628 A CN 109531628A
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- China
- Prior art keywords
- displacement
- wrist
- thimble
- assembling
- guide rail
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- 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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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot wrist's assembling and setting devices, including installation base plate, high-precision guide rail, motor mounting plate, driving motor, transmission component, part stent, the first speed reducer, displacement sensor, displacement adjusting thimble, driving device；High-precision guide rail is mounted on the left side of installation base plate, and driving motor is mounted on high-precision guide rail by motor mounting plate, and driving motor and transmission component are sequentially connected；Part stent is fixedly mounted on the right side of installation base plate, and part stent is equipped with the first mounting portion and the second mounting portion, and first speed reducer is set to the rear side of part stent；And through-hole is provided in part stent；Displacement adjusts the right side that thimble is set to part stent, and is displaced adjusting thimble and is sequentially connected with driving device.Robot wrist's assembling and setting device provided by the invention can not only guarantee that measurement data is precisely reliable, so that assembly works well, and easy to operate, greatly improve production efficiency.
Description
Technical field
The present invention relates to robot installation and debugging fields, are a kind of robot wrist's assembling and setting devices specifically.
Background technique
Need to adjust the locating distance of bevel gear when conventional industrial robot's wrist is using nested Bevel Gear Transmission, it is common to do
Method is to add the gasket of respective thickness on bevel gear mounting surface to be adjusted, but how to determine on earth using how much thickness
Gasket is a cumbersome and inefficient process；It not only needs robot measurement wrist mutually to shut down and adds part bevel gear installation dimension, by
It is irregular in robot wrist's components moulding, it needs using three-coordinates measuring machine, measurement efficiency is low；And measurement bevel gear
Locating distance needs dedicated gear measuring device, involves great expense, and is not suitable for the production of small lot heavy load robot, it is also necessary to right
Wrist components carry out being dismounted for multiple times, and large labor intensity, efficiency are lower, while being dismounted for multiple times is easily reduced assembly precision etc. and asks
Topic.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of robot wrist's component assembling debugging apparatus.
The technical scheme to solve the above technical problems is that
A kind of robot wrist's assembling and setting device, including installation base plate, high-precision guide rail, motor mounting plate, driving motor,
Transmission component, part stent, the first speed reducer, displacement sensor, displacement adjust thimble, driving device, wherein
The high-precision guide rail is fixedly mounted on the front end of the installation base plate, and the driving motor is pacified by the motor
Loading board is movably arranged on the high-precision guide rail, and the driving motor and the transmission component are sequentially connected；
The part stent is fixedly mounted on the rear end of the installation base plate, and the part stent is equipped with for installing the
First mounting portion of one wrist part and the second mounting portion for installing the second wrist part；The side of the part stent
It is equipped with first speed reducer for being sequentially connected with first wrist part；It is provided in the part stent for seeing
Examine the through-hole of first speed reducer and first wrist part transmission connection；
The rear end of the part stent is equipped with the displacement for first wrist part to be adjusted and adjusts
Thimble, the installation base plate are equipped with the driving device far from one end of the high-precision guide rail, and the displacement adjusts thimble and institute
State driving device transmission connection.
The beneficial effects of the present invention are: be sequentially connected by the driving motor and the transmission component, the transmission group
Part drives the first wrist part rotation being mounted in the part stent, and the speed reducer and first wrist part are driven
Connection is driven situation by observing the speed reducer and first wrist part on the through-hole, starts the driving dress
It sets and the displacement adjusting thimble is driven to eject first wrist part outward, so that first speed reducer and described first
Wrist part transmission is good, while institute's displacement sensors record the shift length of first wrist part, according to institute's rheme
Move the gasket that distance is added on second wrist part；Robot wrist's assembling and setting device provided by the invention can not only
Enough guarantee that measurement data is precisely reliable, so that assembly works well, and easy to operate, greatly improves production efficiency.
Based on the above technical solution, the present invention can also be improved as follows.
It further, further include elastic compression device for fixing first wrist part, the elastic compression device setting
In in the part stent.
Beneficial effect using above-mentioned further scheme is: by elastic compression device to first wrist part smoothly
It compresses, guarantees first wrist part not left and right play during the motion.
It further, further include displacement limit stop, the displacement limit stop is mounted on the end of the high-precision guide rail.
Beneficial effect using above-mentioned further scheme is: the displacement limit stop can limit the driving motor
Displacement, prevents the driving motor from skidding off the high-precision guide rail.
Further, the transmission component includes shaft coupling and transmission shaft, and the output end of the driving motor passes through described
One end of shaft coupling and the transmission shaft is sequentially connected.
Beneficial effect using above-mentioned further scheme is: the driving motor successively with the shaft coupling, the transmission
Axis transmission connection, can stablize the first wrist part stable rotation for driving and being mounted on first mounting portion.
Further, the driving device includes the second speed reducer, servo motor and servo-driver, and the displacement is adjusted
Thimble is connect by second speed reducer with the servo motor transmission；And the servo motor and the servo-driver are electric
Property connection.
Beneficial effect using above-mentioned further scheme is: the displacement adjust thimble by with second speed reducer,
Precise displacement may be implemented in the servo motor transmission connection, and the displacement adjusts thimble displacement and can be driven by servo
Dynamic device is adjusted.
Further, it includes bar portion and top that the displacement, which adjusts thimble, and the top is rotatably connected on the bar portion
On one end；The other end for the bar portion that the displacement adjusts thimble is threaded in the part stent.
Beneficial effect using above-mentioned further scheme is: the bar portion that the displacement adjusts thimble is threaded in the portion
On part bracket, so that the displacement that the displacement adjusts thimble is easily easily adjusted；The top that the displacement adjusts thimble simultaneously rolls
It is connected in the bar portion, friction can be reduced when contacting with the first wrist part, prevent components damage.
Further, it is rounded shape that the displacement, which adjusts the top of thimble,.
Beneficial effect using above-mentioned further scheme is: using rounded shape, can prevent the first wrist part from damaging.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot wrist's assembling and setting device of the present invention；
Fig. 2 is the overall effect figure of robot wrist's assembling and setting device of the present invention；
In attached drawing, parts list represented by the reference numerals are as follows:
1, installation base plate, 2, high-precision guide rail, 3, motor installation version, 4, driving motor, 5, shaft coupling, 6, transmission shaft, 7, portion
Part bracket, the 8, first speed reducer, 9, displacement sensor, 10, through-hole, the 11, first mounting portion, the 12, second mounting portion, 13, displacement
Adjust thimble, the 14, second speed reducer, 15, servo motor, 16, servo-driver, 17, displacement limit stop, 18, elastic compression
Device, 19, bar portion, 20, top.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of robot wrist's assembling and setting device, including the installation of installation base plate 1, high-precision guide rail 2, motor
Plate 3, driving motor 4, transmission component, part stent 7, the first speed reducer 8, displacement sensor 9, displacement adjust thimble 13, driving
Device, wherein
The high-precision guide rail 2 is fixedly mounted on the front end of the installation base plate 1, and the driving motor 4 passes through the electricity
Machine mounting plate 3 is movably arranged on the high-precision guide rail 2, and the driving motor 4 is sequentially connected with the transmission component, the drive
Dynamic motor 4 slides on the high-precision guide rail 2, can disconnect and be mounted on the first wrist part in the part stent 7
Transmission connection.
The part stent 7 is fixedly mounted on the right side of the installation base plate 1, and the part stent 7 is equipped with the first peace
Dress portion 11 and the second mounting portion 12, first mounting portion 11 and the second mounting portion 12 are respectively used to the first wrist portion of installation
Part and the second wrist part；Wherein the first-hand wrist part and the second wrist part are mounted in the part stent 7
After can be sequentially connected.
First speed reducer 8 is set to the rear side of the part stent 7, and first speed reducer 8 is used for and described the
The transmission connection of one wrist part；And it is provided in the part stent 7 for observing first speed reducer 8 and first wrist
The through-hole 10 of component transmission connection.
The displacement adjusts the right side that thimble 13 is set to the part stent 7, and the displacement adjusts thimble 13 and institute
Driving device transmission connection is stated, the displacement adjusts thimble 13 for first wrist part to be adjusted.
It should be noted that first speed reducer 8 is sequentially connected by bevel gear and first wrist part, pass through
The through-hole 10 is observed that the situation that engages of the first speed reducer 8 and first wrist part, and according to engagement situation
Starting the driving device drives the displacement adjusting thimble 13 that the first wrist part is adjusted.
It specifically, further include elastic compression device 18 for fixing first wrist part, the elastic compression device 18
It is set in the part stent 7.
It should be noted that the use of elastic compression device 18 is smoothly to be compressed to the first wrist part, guarantee the
One wrist part not left and right play during the motion, present invention preferably uses elastic compression devices 18, and other folders also can be used
Device is held the first wrist part is fixed.
It specifically, further include displacement limit stop 17, the displacement limit stop 17 is mounted on the end of the high-precision guide rail 2
End.
It should be noted that the displacement limit stop 17 is the displacement for limiting the driving motor 4, prevent described
Driving motor 4 skids off the high-precision guide rail, the displacement limit stop also can be set on the high-precision guide rail 2.
Specifically, the transmission component includes shaft coupling 5 and transmission shaft 6, and the output end of the driving motor 4 passes through institute
The one end for stating shaft coupling 5 and the transmission shaft 6 is sequentially connected.
It should be noted that the other end of the transmission shaft 6 and the first wrist part being mounted in the part stent 7
Transmission connection, for driving first wrist part to rotate.
Specifically, the driving device includes the second speed reducer 14, servo motor 15 and servo-driver 16, institute's rheme
Transposition section thimble 13 is sequentially connected by second speed reducer (14) and the servo motor 15；And the servo motor 15 with
The servo-driver 16 is electrically connected.
It should be noted that the displacement adjusts thimble by connecting with second speed reducer, the servo motor transmission
It connects, precise displacement may be implemented, and the displacement adjusts thimble displacement and can be adjusted by servo-driver, such as can
The displacement that the displacement adjusts thimble 13 is adjusted to 0.02mm by the servo-driver 16.
Specifically, it includes bar portion 19 and top 20 that the displacement, which adjusts thimble 13, and the top 20 is rotatably connected on institute
On the one end for stating bar portion 19；The other end for the bar portion 19 that the displacement adjusts thimble 13 is threaded in the part stent 7.
Specifically, it is rounded shape that the displacement, which adjusts the top 20 of thimble 13,.
It should be noted that it is described displacement adjust thimble 13 top 20 be rotatably connected on it is in the bar portion 19 and described
Top 20 is that rounded shape is provided to reduce friction, and component is avoided to be damaged, and the displacement adjusts thimble 13 and passes through
It is threaded in the part stent 7, the precise fine-adjustment that the displacement adjusts thimble 13 may be implemented.
In practical applications, the left end that the driving motor 4 is slided into the high-precision guide rail 2 first, will be first-hand
Wrist part and the second wrist part are separately mounted on the first mounting portion 11 and the second mounting portion 12 of the part stent 7；So
The driving motor 4 is slid into the right end of the high-precision guide rail 2 afterwards, so that the driving motor 4 passes through shaft coupling 5 and transmission
Axis 6 and the first wrist part are sequentially connected；Then it adjusts the revolving speed of the driving motor 4, observes the first wrist part and described
The engagement situation of first speed reducer 8 records the numerical value on displacement sensor 9 if transmission is good, completes the first wrist part
Adjusting；If it is not ideal enough to engage situation, the displacement is rotated by servo motor automatically and adjusts thimble 13, by the first wrist
Component slightly ejects the slight distance of setting outward, and the distance of ejection is observed by displacement sensor 9, again operating driving electricity
Machine observes the engagement situation of the first wrist part and first speed reducer 8, engages effect until reaching expected；Then it protects
Hold that the first wrist part is motionless, the first speed reducer does not change, by way of increasing or decreasing gasket at the second wrist part,
Complete the adjusting of the second wrist part.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of robot wrist's assembling and setting device, it is characterised in that: including installation base plate (1), high-precision guide rail (2), motor
Mounting plate (3), driving motor (4), transmission component, part stent (7), the first speed reducer (8), displacement sensor (9), displacement are adjusted
Save thimble (13), driving device, wherein
The high-precision guide rail (2) is fixedly mounted on the front end of the installation base plate (1), and the driving motor (4) passes through described
Motor mounting plate (3) is movably arranged on the high-precision guide rail (2), and the driving motor (4) and transmission component transmission connect
It connects；
The part stent (7) is fixedly mounted on the rear end of the installation base plate (1), and the part stent (7) is equipped with and is used for
The first mounting portion (11) of first wrist part and the second mounting portion (12) for installing the second wrist part are installed；It is described
The side of part stent (7) is equipped with first speed reducer (8) for being sequentially connected with first wrist part；It is described
The through-hole for observing first speed reducer (8) and first wrist part transmission connection is provided in part stent (7)
(10)；
The rear end of the part stent (7) is equipped with the displacement for first wrist part to be adjusted and adjusts top
Needle (13), the installation base plate (1) are equipped with the driving device far from one end of the high-precision guide rail (2), and the displacement is adjusted
Thimble (13) and the driving device are sequentially connected.
2. robot wrist's assembling and setting device according to claim 1, it is characterised in that: further include for described in fixation
The elastic compression device (18) of first wrist part, the elastic compression device (18) are set on the part stent (7).
3. robot wrist's assembling and setting device according to claim 1, it is characterised in that: further include displacement limit stop
(17), displacement limit stop (17) is mounted on the end of the high-precision guide rail (2).
4. robot wrist's assembling and setting device according to claim 1, it is characterised in that: the transmission component includes connection
The output end of axis device (5) and transmission shaft (6), the driving motor (4) passes through the shaft coupling (5) and the transmission shaft (6)
One end transmission connection.
5. robot wrist's assembling and setting device according to claim 1, it is characterised in that: the driving device includes the
Two speed reducers (14), servo motor (15) and servo-driver (16), the displacement adjust thimble (13) and pass through described second
Speed reducer (14) and the servo motor (15) are sequentially connected；And the servo motor (15) and the servo-driver (16) are electric
Property connection.
6. robot wrist's assembling and setting device according to any one of claims 1 to 5, it is characterised in that: the displacement
Adjusting thimble (13) includes bar portion (19) and top (20), and the top (20) is rotatably connected on one end of the bar portion (19)
On；The other end for the bar portion (19) that the displacement adjusts thimble (13) is threaded on the part stent (7).
7. robot wrist's assembling and setting device according to claim 6, it is characterised in that: the displacement adjusts thimble
(13) top (20) is rounded shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653041.5A CN109531628A (en) | 2018-12-29 | 2018-12-29 | A kind of robot wrist's assembling and setting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653041.5A CN109531628A (en) | 2018-12-29 | 2018-12-29 | A kind of robot wrist's assembling and setting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531628A true CN109531628A (en) | 2019-03-29 |
Family
ID=65833941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811653041.5A Pending CN109531628A (en) | 2018-12-29 | 2018-12-29 | A kind of robot wrist's assembling and setting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531628A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0089129A2 (en) * | 1982-03-12 | 1983-09-21 | Fanuc Ltd. | A power transmission mechanism with a backlash regulator for industrial robots |
| DE20220859U1 (en) * | 2002-11-22 | 2004-05-06 | C. & E. Fein Gmbh | An angle drive attachment for an electric hand tool has a screw adjustment mechanism to control the engagement of the matching bevel gears |
| CN200943692Y (en) * | 2006-08-15 | 2007-09-05 | 宁波东力传动设备股份有限公司 | Bevel gear pair mounting gap regulating mechanism |
| CN202756574U (en) * | 2012-08-31 | 2013-02-27 | 山东鑫国重机科技有限公司 | Adjusting mechanism for meshing of large spiral bevel gear pair and small spiral bevel gear pair |
| CN207189701U (en) * | 2017-05-27 | 2018-04-06 | 广东拓斯达科技股份有限公司 | A kind of robot for being easy to adjustment gear gap |
| CN207326343U (en) * | 2017-09-07 | 2018-05-08 | 北京新立机械有限责任公司 | A kind of bevel gear assembles test fixture |
| CN209364674U (en) * | 2018-12-29 | 2019-09-10 | 重庆华数机器人有限公司 | A kind of robot wrist's assembling and setting device |
-
2018
- 2018-12-29 CN CN201811653041.5A patent/CN109531628A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0089129A2 (en) * | 1982-03-12 | 1983-09-21 | Fanuc Ltd. | A power transmission mechanism with a backlash regulator for industrial robots |
| DE20220859U1 (en) * | 2002-11-22 | 2004-05-06 | C. & E. Fein Gmbh | An angle drive attachment for an electric hand tool has a screw adjustment mechanism to control the engagement of the matching bevel gears |
| CN200943692Y (en) * | 2006-08-15 | 2007-09-05 | 宁波东力传动设备股份有限公司 | Bevel gear pair mounting gap regulating mechanism |
| CN202756574U (en) * | 2012-08-31 | 2013-02-27 | 山东鑫国重机科技有限公司 | Adjusting mechanism for meshing of large spiral bevel gear pair and small spiral bevel gear pair |
| CN207189701U (en) * | 2017-05-27 | 2018-04-06 | 广东拓斯达科技股份有限公司 | A kind of robot for being easy to adjustment gear gap |
| CN207326343U (en) * | 2017-09-07 | 2018-05-08 | 北京新立机械有限责任公司 | A kind of bevel gear assembles test fixture |
| CN209364674U (en) * | 2018-12-29 | 2019-09-10 | 重庆华数机器人有限公司 | A kind of robot wrist's assembling and setting device |
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