CN113915318A - Industrial robot center distance adjusting method - Google Patents
Industrial robot center distance adjusting method Download PDFInfo
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- CN113915318A CN113915318A CN202111272525.7A CN202111272525A CN113915318A CN 113915318 A CN113915318 A CN 113915318A CN 202111272525 A CN202111272525 A CN 202111272525A CN 113915318 A CN113915318 A CN 113915318A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
- F16H57/022—Adjustment of gear shafts or bearings
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
- F16H57/022—Adjustment of gear shafts or bearings
- F16H2057/0222—Lateral adjustment
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
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Abstract
A method for adjusting the center distance of a joint of an industrial robot comprises the following steps: the device comprises a body, a driving motor and a driving speed reducer; setting an adjusting ring to the driving motor; placing an adjustment ring to the body; the adjusting ring comprises an outer ring side surface and an inner ring side surface; the axis of the output shaft of the driving motor is parallel to but not coincident with the axis of the side surface of the outer ring; the side surface of the outer ring is projected along the axis, and the center of the side surface of the inner ring is positioned on the connecting line of the center of the output shaft and the center of the input shaft; measuring the distance between the center of the output shaft and the center of the input shaft, comparing the distance with the theoretical center distance, and if the distance is not equal, rotating the adjusting ring around the axis of the side surface of the outer ring; and re-measuring the distance between the center of the output shaft and the center of the input shaft until the distance between the center of the output shaft and the center of the input shaft is equal to the theoretical center distance. Compared with the prior art, the method for adjusting the joint center distance of the industrial robot can quickly change the distance between the axis of the output shaft of the motor and the axis of the input shaft of the speed reducer, and improve the installation efficiency of the industrial robot.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a method for adjusting the center distance of an industrial robot.
Background
Most of industrial robots in the prior art adopt a motor to drive a speed reducer, and then the speed reducer drives a joint to move for transmission. The motor and the speed reducer are in transmission through gear engagement. Specifically, an output gear is installed on an output shaft of the motor, an input gear is arranged at an input end of the speed reducer, and an output end of the speed reducer is fixedly connected with the joint. The output gear and the input gear are in meshed transmission with each other. The power output by the motor is transmitted to the joint through the output ends of the motor output shaft, the output gear, the input gear and the speed reducer in sequence, so that the joint is driven to rotate.
It can be seen from the above structure that the power transmission is mainly realized by the engagement between the output gear and the input gear, and therefore the engagement parameters of the output gear and the input gear, such as the engagement clearance and the size of the engagement surface, affect the transmission precision and strength. Meanwhile, the meshing parameters are influenced by the processing precision of the motor and the speed reducer, the shape precision of the output gear and the input gear, the coaxiality of the output shaft of the motor and the output gear, and the coaxiality of the input end of the speed reducer and the input gear.
The key for improving the transmission precision of the industrial robot is to adjust the accumulated error generated after the assembly of each part. In actual mass production, the accumulated errors generated after the assembly of each part are comprehensively reflected as the meshing errors between the output gear and the input gear. Therefore, adjusting the meshing error between the output gear and the input gear becomes the key for improving the transmission precision. In the prior art, the adjustment of the meshing parameters between gears often needs to be performed by searching the reasons causing errors, and repeatedly disassembling and assembling equipment and debugging, so that the installation efficiency is low, and the transmission precision is poor.
Disclosure of Invention
Based on this, the invention aims to provide a center distance adjusting method for an industrial robot to realize quick adjustment of the center distance between an output gear and an input gear.
The technical scheme adopted by the invention is as follows:
a method for adjusting the center distance of a joint of an industrial robot comprises the following steps:
the device comprises a body, a driving motor arranged on the body and a driving speed reducer positioned in the body;
setting an adjusting ring and setting it to the drive motor; placing the adjusting ring together with the drive motor onto the body; the adjusting ring comprises a cylindrical outer ring side surface and an inner ring side surface; the axis of the output shaft of the driving motor is parallel to but not coincident with the axis of the side surface of the outer ring; the center of the side surface of the inner ring is positioned on a central connecting line of the output shaft formed by the output shaft and the input shaft formed by the input shaft of the driving speed reducer;
measuring the distance between the center of the output shaft and the center of the input shaft and comparing the distance with the theoretical center distance;
if the distance between the center of the output shaft and the center of the input shaft is not equal to the theoretical center distance, rotating the adjusting ring around the axis of the side surface of the outer ring to change the distance between the center of the output shaft and the center of the input shaft;
re-measuring the distance between the output shaft center and the input shaft center and rotating the adjusting ring until the distance between the output shaft center and the input shaft center is equal to the theoretical center distance.
Compared with the prior art, the method for adjusting the center distance of the industrial robot can change the distance between the axis of the output shaft of the motor and the axis of the input shaft of the speed reducer by arranging the adjusting ring and rotating the adjusting ring, quickly realize high-precision adjustment of the center distance between the output gear and the input gear, and improve the installation efficiency of the industrial robot.
Further, after the adjusting ring is rotated around the axis of the side surface of the outer ring, the orientation of a cable joint of the driving motor is kept unchanged so as to keep wiring convenient.
Further, the method comprises the following steps: further comprising the steps of: after the distance between the center of the output shaft and the center of the input shaft is equal to the theoretical center distance, the driving motor is fixed on the body and enables the driving motor to press the adjusting ring onto the body, so that the phenomenon that the center distance is changed due to the fact that the adjusting ring rotates in the moving process is avoided.
Further, the adjusting ring sleeve is arranged behind the driving motor and comprises the following steps: arranging a gasket so that the gasket is positioned on the side surface of the adjusting ring, which faces away from the driving motor; the driving motor compresses tightly the adjusting ring and the gasket on the body, and damping is increased through the gasket, so that the center distance is further prevented from changing due to the fact that the adjusting ring rotates in the moving process, and the precision is guaranteed.
Further, before revolving the adjusting ring around the outer ring side axis to change the distance between the output shaft center and the input shaft center, the method further comprises the steps of: and calculating an adjusting angle alpha, and rotating the adjusting ring according to the adjusting angle alpha so as to reduce the times of adjusting the center distance of the rotating adjusting ring and improve the installation efficiency.
Further, obtaining the adjustment angle α includes the following steps: measuring and acquiring a first center distance n from the center of the side surface of the outer ring to the center of the input shaft, a second center distance DeltaX from the center of the side surface of the inner ring to the center of the side surface of the outer ring and a third center distance DeltaY from the center of the side surface of the inner ring to the center of the output shaft before adjustment along the axial projection of the side surface of the outer ring; the axial direction of the cable joint forms an included angle beta with a connecting line of the center of the output shaft and the center of the input shaft;
calculating the adjustment angle alpha according to the second center distance delta X, the third center distance delta Y, the included angle beta and the first center distance n by the following formula;
wherein S2 is the theoretical center distance, a1 ═2△X△Ycosβ-2n△X，a2＝2△X△Ysinβ，a3＝n2-2n△Ycosβ+△X2+△Y2. The adjustment angle alpha can be accurately obtained through calculation, the adjustment times are reduced as far as possible, and the installation efficiency is greatly improved.
Further, still include the driving motor with the adjustable ring with the gasket compresses tightly to the body after, the operation is whether normal in order to detect the operation for a period of time to improve equipment's stability.
Further, providing the adjustment ring with the inner ring side surface made of a flexible material; the outer ring side surface is made of rigid materials so as to reduce vibration and reduce abrasion.
Further, the adjusting ring is arranged to be made of a rigid material at one side surface close to the driving motor; the gasket is made of a flexible material to reduce vibration while reducing wear.
Further, an angle scale is arranged on one side surface of the adjusting ring facing the driving motor so as to rotate the adjusting ring according to an adjusting angle alpha.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the overall structure of an industrial robot in the present invention;
FIG. 2 is a schematic view of the overall structure of the joint of the industrial robot according to the present invention;
FIG. 3 is a cross-sectional elevation view of an industrial robot joint of the present invention;
FIG. 4 is a schematic structural view of the main body of the present invention;
FIG. 5 is a schematic structural diagram of a center distance adjusting ring of the industrial robot according to the present invention;
FIG. 6 is a schematic view of the structure of the driving motor according to the present invention;
FIG. 7 is a projection of an embodiment of the present invention taken along the lateral axis of the outer ring
FIG. 8 is a projection of another embodiment of the present invention taken along the lateral axis of the outer ring;
FIG. 9 is a partial schematic view of the gasket as installed in the body;
FIG. 10 is a schematic view of the process of adjusting the center distance according to the present invention;
FIG. 11 is a schematic flow chart of obtaining the adjustment angle α according to the present invention;
FIG. 12 is a schematic view of the projection along the outer ring side axis during the adjustment of the center distance according to the present invention;
fig. 13 is a schematic view of the projection along the outer ring side axis in the process of obtaining the adjustment angle α in the present invention.
Detailed Description
In the process of mounting parts of joints of the industrial robot, machining errors and mounting errors of the parts are progressive, and finally, the engagement parameters between the motor output gear and the input gear of the speed reducer are affected, and the errors between the motor output gear and the input gear of the speed reducer can be eliminated by adjusting the center distance of the motor output gear and the input gear of the speed reducer. Therefore, the distance between the output shaft of the motor and the input shaft of the speed reducer is adjusted, various errors can be corrected, and the output gear of the motor and the input gear of the speed reducer can be adjusted to be in a designed meshing state.
To this end, the invention provides an industrial robot comprising one or more joints provided with a centre distance adjusting ring. And installing the center distance adjusting ring into the joint to adjust the center distance between the joint motor output shaft and the speed reducer input shaft.
Specifically, referring to fig. 1, the industrial robot in the present embodiment is a six-axis industrial robot in the prior art, and includes a base 10, a first joint 20, a second joint 30, a third joint 40, a fourth joint 50, a fifth joint 60 and a terminal 70, which are located on the base 10 and connected in sequence. The first joint 20, the second joint 30, the third joint 40, the fourth joint 50, the fifth joint 60 and the terminal 70 are respectively driven by the first motor 22, the second motor 32, the third motor, the fourth motor, the fifth motor and the terminal motor to rotate around the shaft. It is to be noted that, for the sake of convenience of explanation, the industrial robot in the present embodiment is set as a six-axis industrial robot, but the present invention is not limited to the use in the six-axis industrial robot.
Referring to fig. 2 and fig. 3, in the present embodiment, the first joint 20 installed between the base 10 and the second joint 30 includes a body 21 movably connected to the base 10, a first motor 22 installed at one side of the body 21, a driving reducer 23 located inside the body 21, an output gear 24, an input gear 25, and an adjusting ring 26. The driving speed reducer 23 is fixedly arranged above the base 10, and the output end of the driving speed reducer is fixedly connected with the body 21, so that the body 21 rotates coaxially with the output end of the driving speed reducer 23. The axis of the output shaft 221 of the first motor 21, the axis of the input shaft 231 of the driving reducer 23, and the axis of the output shaft (not labeled) are all parallel to the revolving shaft a of the body 21. Preferably, the axis of the revolving axis a of the body 21, the axis of the output shaft 221, and the axis of the input shaft 231 coincide. The output gear 24 is fixed on the output shaft 221 and rotates coaxially therewith. The input gear 25 is fixed to the input shaft 231 and engaged with the output gear 24. The power generated by the first motor 22 is transmitted to the input gear 25 via the output gear 24 and is input to the drive reducer 23, so that the body 21 is driven to rotate around the rotation axis a. The adjusting ring 26 is fixedly connected to one side of the first motor 22, and the first motor 22 is mounted on the body 21 through the adjusting ring 26. The adjustment ring 26 is rotatable about an axis parallel to the axis of rotation a to adjust the distance between the output shaft 221 and the input shaft 231.
Referring to fig. 4, in the present embodiment, the main body 21 is hollow, a motor mounting platform 211 is disposed at one side of the main body, and the output shaft 221 is perpendicular to a table top of the motor mounting platform 211. The motor mounting platform 211 is provided with a through-shaft passage 212, a mounting surface 213 and a support surface 214. The shaft passage 212 is axially perpendicular to the support surface 214 and extends through the motor mounting platform 211 to communicate with the interior of the body 21. The mounting surface 213 is located on the support surface 214 and surrounds the outer side of the over-axle channel 212. The mounting surface 213 is circular in projection along the axial direction of the through-shaft passage 212.
Referring to fig. 5, the adjusting ring 26 is disposed in the mounting portion 213 and includes an inner ring side surface 261, an outer ring side surface 262, an upper side surface 263 and a lower side surface 264. The outer ring side surface 262 surrounds the outer ring side surface 261. The upper side 263 and the lower side 264 are connected between the inner ring side 261 and the outer ring side 262 and are respectively located at upper and lower sides thereof. The upper side 263 faces the first electric motor 22. The lower side 264 faces the motor mounting platform 211 deck. The outer ring side surface 262 is a circular ring surface, when the adjusting ring 26 is sleeved on the outer side of the first motor 22, the inner ring side surface 261 is fixed with the first motor 22, and the axis of the outer ring side surface 262 is parallel to but not coincident with the axis of the output shaft 221. The outer ring side 262 axis is coincident with the mounting surface 213 and the lower side 264 is coincident with the support surface 214 such that the adjustment ring 26 may pivot within the motor mounting platform 211 about the outer ring side 262 axis. In this embodiment, the inner ring side surface 261 is a circular ring surface whose axis is parallel to but not coincident with the axis of the outer ring side surface 262; preferably, the axis of the inner ring side surface 261 coincides with the output shaft 221 axis. Further, the adjusting ring 26 is provided with screw holes (not shown) so that the adjusting ring 26 can be fixed to the motor mounting platform 211 by screws after the center distance is adjusted, and preferably, the number of the screw holes is two or more and is uniformly distributed along the circumferential direction of the adjusting ring 26.
Referring to fig. 6, in the present embodiment, the first motor 22 is provided with a fixing block 222 protruding from the same side as the output shaft 221 in the same direction and a cable connector 223 for connecting with a cable. When in use, the output shaft 221 passes through the inner ring side surface 261, so that the adjusting ring 26 is sleeved outside the fixing block 222 and the outer side surface of the fixing block 222 is tightly connected with the inner ring side surface 261. The axis of the inner ring side 261 is parallel to the output shaft 221 axis. Preferably, the axis of the inner ring side surface 261 coincides with the axis of the output shaft 221, and the inner ring side surface 261 and the fixing block 221 are in interference fit. The cable connector 223 protrudes from one side of the first motor 22, and preferably, the cable connector 223 protrudes along the radial direction of the output shaft 221.
Further, the upper side 263 is provided with a scale 266, the scale 266 equally divides the circumference into a plurality of equal parts in 360 degrees, and the adjusting ring 26 is calculated and rotated to a corresponding angle according to the axial distance between the output shaft 221 and the input shaft 231 obtained by actual measurement during adjustment, so as to realize the adjustment of the center distance.
Furthermore, the adjusting ring 26 is made of flexible material such as rubber which can be elastically deformed, and has certain adaptability compared with material with higher hardness such as steel, and the center distance can be better kept. Further, the inner ring side 261 is made of a flexible material, and the outer ring side 262 is made of a rigid material such as stainless steel, so as to absorb the vibration of the motor and maintain the center distance. Alternatively, the upper side 263 is made of a rigid material such as stainless steel, and the lower side 264 is made of a flexible material, which can also achieve the effects of absorbing the vibration of the motor and maintaining the center distance.
Further, to improve the adjustment accuracy of the adjusting ring 26, please refer to fig. 7, in an embodiment, an axis of the output shaft 221 of the first motor 22 coincides with an axis of the inner ring side 261, and is projected along an axis of the outer ring side 262, a protrusion 265 protruding in a radial direction toward a center direction is disposed on the inner ring side 261, and accordingly, a groove (not shown) engaged with the protrusion 265 is disposed on the fixing block 221, and when the adjusting ring 26 is engaged with the first motor 22 to prevent the output shaft 221 from coinciding with the axis of the inner ring side 261, the first motor 22 rotates relative to the adjusting ring 26 to cause inaccuracy in the calculated adjustment rotation angle. Referring to fig. 8, in another embodiment, the axis of the output shaft 221 of the first motor 22 coincides with the axis of the inner ring side 261, and the inner ring side 261 is non-circular, such as rectangular, triangular, etc., projected along the axis of the outer ring side 262, and accordingly, the fixing block 221 is configured to be in a shape fitting with the inner ring side 261, which also achieves the effect of preventing the first motor 22 from rotating relative to the adjusting ring 26 during the adjustment process.
Further, referring to fig. 9, the industrial robot joint 20 further includes a spacer 27, the spacer 27 is located between the lower side 264 of the adjusting ring 26 and the supporting surface 214, the spacer 27 is made of uneven stripes or non-slip material such as PVC, and the damping is increased to prevent the adjusting ring 26 from rotating relative to the body 21 due to insufficient pressing force during use. The spacer 27 and the adjusting ring 26 may be separate structures, or may be integrally formed with the adjusting ring 26 by bonding or the like.
In addition, the person skilled in the art can also adjust the center distance between the motor output shaft 221 and the reducer input shaft 231 by connecting the adjusting ring 26 with other parts with reference to the above structure. For example, the first motor 22 is fixed relative to the body 21, the inner ring side surface 261 of the adjusting ring 26 is sleeved outside the driving reducer 23, so that the axis of the input shaft 231 of the driving reducer 23 is parallel to but not coincident with the axis of the outer ring side surface 262 of the adjusting ring 26, and the driving reducer 23 is mounted on the base 10 through the adjusting ring 26, so that the adjustment between the center distances can be realized, the mounting manner is similar to that of the above embodiment, and the description is not repeated here.
Based on the above structure, please refer to fig. 10 to fig. 13, in the present embodiment, the center distance is adjusted through the following steps:
step S10: the drive reducer 23 is mounted in the body 21 together with the input gear 25, and the center of the input shaft is O.
Step S20: the adjusting ring 26 is sleeved outside the fixing block 221 of the first motor 22 as a driving motor, and then the pad 27 is mounted on the supporting surface 214. The adjusting ring 26 is then placed into the motor mounting platform 211 together with the first motor 22, and the outer ring side 262 of the adjusting ring 26 abuts the mounting surface 213. The output shaft 221 of the first motor 22 with the output gear 24 passes through the shaft passage 212 and enters the interior of the body 21 with its axis parallel to but not coincident with the axis of the outer ring side 262. And projected along the axis of the outer ring side surface 262, so that the axial center O1 of the inner ring side surface 261 is located on the connecting line OO 'between the input shaft center O of the drive reducer 23 and the outer ring side surface 262 center O'. The output gear 24 is intermeshed with the input gear 25. In this embodiment, the connection line OO' is set as a horizontal line.
Step S30: the distance between the input shaft 231 of the driving speed reducer 23 and the output shaft 221 of the first motor 22 is measured, that is, the distance between the center O of the input shaft of the driving speed reducer 23 and the center O1' of the output shaft 221 of the first motor 22, which is projected along the axial direction of the outer ring side 262, so as to obtain a first center distance S1. Comparing the first center distance S1 with the theoretical center distance, if there is a deviation, proceeding to the next step, and if there is no deviation, proceeding to step S50.
Step S40: an adjustment angle alpha is calculated and the adjusting ring 26 is rotated according to the adjustment angle alpha.
Since the cable connected to the first motor 22 generally needs to be connected according to a certain routing direction, and the position of the cable connector of the first motor 22 is fixed, it is preferable that the orientation of the cable connector 223 of the first motor 22 remains unchanged after the adjusting ring 26 rotates.
Referring to fig. 11 and 13, the adjustment angle can be calculated according to the following steps, assuming that the adjustment ring 26 rotates clockwise, the counterclockwise rotation is calculated in the same manner as the clockwise rotation, and the result obtained by the clockwise rotation are symmetrically distributed about the horizontal axis as the symmetry axis:
step S41: and measuring and acquiring a first center distance n from the center O ' of the outer ring side surface 262 to the center O of the input shaft, a second center distance DeltaX from the center O1 of the inner ring side surface 261 to the center O ' of the outer ring side surface 262 and a third center distance DeltaY from the center O1 of the inner ring side surface 261 to the center O1 ' of the output shaft before adjustment along the axial projection of the outer ring side surface 262.
Under the condition that the orientation of the first motor 22 needs to be ensured to be unchanged, an included angle β between the axial direction of the cable joint and the connecting line OO' is measured.
Step S42: and calculating the positions of the adjusted inner ring side surface center O2 and the output shaft center O2' according to the theoretical center distance, the first center distance n, the second center distance delta X, the third center distance delta Y and the included angle beta, and obtaining an adjustment angle alpha. Wherein
As shown in fig. 13, after the adjusting ring 26 is rotated, the center of the inner ring side surface 261 is moved from the point O1 to the point O2, the center of the output shaft is moved from the point O1 'to the point O2', and the size of the included angle between the line connecting the center O2 of the inner ring side surface 261 and the center O2 'of the output shaft with respect to the line OO' is kept equal to the included angle β.
From the trigonometric geometry we have obtained:
then the finishing can be as follows:
S22＝(2△X△Ycosβ-2n△X)cosα+(2△X△Ysinβ)sinα+n2-2n△Ycosβ+△X2+△Y2
let a1 be 2 Δ X Δ Ycos β -2n Δ X; a2 ═ 2 Δ X Δ Ysin β; a3 ═ n2-2n△Ycosβ+△X2+△Y2Then, then
S22＝a1cosα+a2sinα+a3)
Both sides of the equation are divided by
Let sin
Cos then
And is
Due to sin theta2+cosθ21 to obtain
Thus, it is possible to provide
Namely, it is
And substituting the angle delta X, the angle delta Y, the angle beta and the angle n to obtain the adjusting angle alpha.
When the center of the inner ring side 261 coincides with the output shaft center, the included angle β is 0, and Δ Y is 0.
Step S50: and actually measuring the distance between the center O of the input shaft of the driving speed reducer 23 and the center O2 of the inner ring side surface 261 to obtain an actual second center distance S2, comparing the actual second center distance S2 with a design value, and if there is a deviation, performing the previous step again, and if there is no deviation, performing the next step.
Step S60: the first motor 22 is fixed to the motor mounting platform 211 and pressed against the adjustment ring 26 to prevent rotation of the adjustment ring 26 during rotation.
Step S70: and installing other joints of the industrial robot and operating the industrial robot, testing for a period of time and then finishing installation if the operation is normal.
Compared with the prior art, the industrial robot joint and the center distance adjusting ring can realize the quick and accurate adjustment of the center distance between the motor output shaft and the speed reducer input shaft, avoid the repeated debugging in the installation process and improve the meshing precision. And the shape of the center distance adjusting ring is simple and the production is convenient. In addition, the center distance adjusting ring is not easy to slide in the working process of the joint, and the transmission cannot be influenced.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A method for adjusting the joint center distance of an industrial robot is characterized by comprising the following steps: the method comprises the following steps:
the device comprises a body, a driving motor arranged on the body and a driving speed reducer positioned in the body;
setting an adjusting ring and setting it to the drive motor; placing the adjusting ring together with the drive motor onto the body; the adjusting ring comprises a cylindrical outer ring side surface and an inner ring side surface; the axis of the output shaft of the driving motor is parallel to but not coincident with the axis of the side surface of the outer ring; the center of the side surface of the inner ring is positioned on a central connecting line of the output shaft formed by the output shaft and the input shaft formed by the input shaft of the driving speed reducer;
measuring the distance between the center of the output shaft and the center of the input shaft and comparing the distance with the theoretical center distance;
if the distance between the center of the output shaft and the center of the input shaft is not equal to the theoretical center distance, rotating the adjusting ring around the axis of the side surface of the outer ring to change the distance between the center of the output shaft and the center of the input shaft, and re-measuring the distance between the center of the output shaft and the center of the input shaft and rotating the adjusting ring until the distance between the center of the output shaft and the center of the input shaft is equal to the theoretical center.
2. The industrial robot joint center-distance adjusting method according to claim 1, characterized in that: after the adjusting ring is rotated around the axis of the side surface of the outer ring, the orientation of a cable joint of the driving motor is kept unchanged.
3. The industrial robot joint center-distance adjusting method according to claim 2, characterized in that: further comprising the steps of: after the distance between the center of the output shaft and the center of the input shaft is equal to the theoretical center distance, the driving motor is fixed on the body and enables the driving motor to press the adjusting ring onto the body.
4. The industrial robot joint center-distance adjusting method according to claim 3, characterized in that: the adjusting ring sleeve is arranged behind the driving motor and further comprises the following steps: arranging a gasket so that the gasket is positioned on the side surface of the adjusting ring, which faces away from the driving motor;
the drive motor compresses the adjustment ring and the shim against the body.
5. The industrial robot joint center-distance adjusting method according to claim 3, characterized in that: before revolving the adjusting ring around the outer ring side axis to change the distance between the output shaft center and the input shaft center, the method further comprises the following steps: and calculating an adjusting angle alpha, and rotating the adjusting ring according to the adjusting angle alpha.
6. The industrial robot joint center-distance adjusting method according to claim 5, characterized in that: calculating the adjustment angle α includes the steps of:
measuring and acquiring a first center distance n from the center of the side surface of the outer ring to the center of the input shaft, a second center distance DeltaX from the center of the side surface of the inner ring to the center of the side surface of the outer ring and a third center distance DeltaY from the center of the side surface of the inner ring to the center of the output shaft before adjustment along the axial projection of the side surface of the outer ring; the axial direction of the cable joint forms an included angle beta with a connecting line of the center of the output shaft and the center of the input shaft;
calculating the adjustment angle alpha according to the second center distance delta X, the third center distance delta Y, the included angle beta and the first center distance n by the following formula;
wherein S2 is the theoretical center distance, a1 ═ 2 DeltaX Δ Ycos beta-2 n DeltaX, a2 ═ 2 DeltaX Δ Ysin beta, a3 ═ n2-2n△Ycosβ+△X2+△Y2。
7. The industrial robot joint center-distance adjusting method according to claim 6, characterized in that: still include the driving motor with the adjustable ring with the gasket compresses tightly to the body after, the operation is in order to detect whether normal operation for a period of time.
8. The industrial robot joint center-distance adjusting method according to claim 7, characterized in that: providing the adjustment ring with the inner ring side surface made of a flexible material; the outer ring side is made of a rigid material.
9. The industrial robot joint center-distance adjusting method according to claim 3, characterized in that: arranging the adjusting ring to be made of a rigid material at one side surface close to the driving motor; the spacer is made of a flexible material.
10. The industrial robot joint center-distance adjusting method according to claim 6, characterized in that: and angle scales are arranged on the side surface of one side of the adjusting ring, which faces the driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111272525.7A CN113915318A (en) | 2021-10-29 | 2021-10-29 | Industrial robot center distance adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111272525.7A CN113915318A (en) | 2021-10-29 | 2021-10-29 | Industrial robot center distance adjusting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113915318A true CN113915318A (en) | 2022-01-11 |
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| FR1292670A (en) * | 1960-06-22 | 1962-05-04 | Gear | |
| JPS63145840A (en) * | 1986-12-04 | 1988-06-17 | Mitsubishi Electric Corp | Gear backlash adjusting mechanism for transmitting device |
| US5045034A (en) * | 1990-05-31 | 1991-09-03 | Aurora Crane Corporation | Adjustable antibacklash gear system |
| CN201599392U (en) * | 2009-12-24 | 2010-10-06 | 徐州重型机械有限公司 | Mounting seat and engineering machinery of slewing speed reducer |
| CN102425654A (en) * | 2011-11-11 | 2012-04-25 | 中联重科股份有限公司 | Device and method for adjusting gear meshing backlash of revolving mechanism |
| CN102976217A (en) * | 2012-11-16 | 2013-03-20 | 无锡市华星船舶设备有限公司 | Crane slewing mechanism capable of adjusting gap between gears |
| CN107055417A (en) * | 2017-04-14 | 2017-08-18 | 苏州标杆知识产权运营有限公司 | High-altitude operation vehicle rotary motion mechanism |
| WO2019166058A1 (en) * | 2018-03-01 | 2019-09-06 | Schaeffler Technologies AG & Co. KG | Actuator system for the variable adjustment of the compression ratio of an internal combustion engine and method for assembling an actuator system |
| CN111936766A (en) * | 2018-05-29 | 2020-11-13 | 舍弗勒技术股份两合公司 | Two-stage actuating gear mechanism with adjustable gear clearance |
| CN112429659A (en) * | 2020-11-24 | 2021-03-02 | 青岛海西重机有限责任公司 | Support structure of rotary speed reducer, rotary mechanism, crane and method |
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2021
- 2021-10-29 CN CN202111272525.7A patent/CN113915318A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1292670A (en) * | 1960-06-22 | 1962-05-04 | Gear | |
| JPS63145840A (en) * | 1986-12-04 | 1988-06-17 | Mitsubishi Electric Corp | Gear backlash adjusting mechanism for transmitting device |
| US5045034A (en) * | 1990-05-31 | 1991-09-03 | Aurora Crane Corporation | Adjustable antibacklash gear system |
| CN201599392U (en) * | 2009-12-24 | 2010-10-06 | 徐州重型机械有限公司 | Mounting seat and engineering machinery of slewing speed reducer |
| CN102425654A (en) * | 2011-11-11 | 2012-04-25 | 中联重科股份有限公司 | Device and method for adjusting gear meshing backlash of revolving mechanism |
| CN102976217A (en) * | 2012-11-16 | 2013-03-20 | 无锡市华星船舶设备有限公司 | Crane slewing mechanism capable of adjusting gap between gears |
| CN107055417A (en) * | 2017-04-14 | 2017-08-18 | 苏州标杆知识产权运营有限公司 | High-altitude operation vehicle rotary motion mechanism |
| WO2019166058A1 (en) * | 2018-03-01 | 2019-09-06 | Schaeffler Technologies AG & Co. KG | Actuator system for the variable adjustment of the compression ratio of an internal combustion engine and method for assembling an actuator system |
| CN111936766A (en) * | 2018-05-29 | 2020-11-13 | 舍弗勒技术股份两合公司 | Two-stage actuating gear mechanism with adjustable gear clearance |
| CN112429659A (en) * | 2020-11-24 | 2021-03-02 | 青岛海西重机有限责任公司 | Support structure of rotary speed reducer, rotary mechanism, crane and method |
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