CN204771516U - Industrial robot wrist assembly auxiliary device - Google Patents
Industrial robot wrist assembly auxiliary device Download PDFInfo
- Publication number
- CN204771516U CN204771516U CN201520470370.1U CN201520470370U CN204771516U CN 204771516 U CN204771516 U CN 204771516U CN 201520470370 U CN201520470370 U CN 201520470370U CN 204771516 U CN204771516 U CN 204771516U
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- side guide
- guide
- base
- gangbar
- crossbearer
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Abstract
The utility model discloses an industrial robot wrist assembly auxiliary device, the on -line screen storage device comprises a base, the side guide, the side guide couple, go up the clamping ring, go up the clamping ring handle, spring no. 1, the side guide pressure head, a back -up ring, and a support, the guide pillar, spring no. 2, the operating rod comprises a linkage rod, saddle and crossbearer, the side guide left end is articulated mutually with the front side of base, the support symmetry is installed in the base upper end left and right sides, the gangbar runs through the crossbearer middle part perpendicularly, it is equipped with U type frame to go up the clamping ring upper end, the middle part of U type frame is articulated mutually with the lower extreme of gangbar, the upper left end at U type frame is installed to the guide pillar symmetry, upper right end, the crossbearer is run through on the upper portion of guide pillar, it is articulated mutually with the upper end of gangbar to go up clamping ring handle left end, the middle part of going up the clamping ring handle is articulated mutually with the upper end of saddle, the retaining ring links firmly with the trailing flank of base. The utility model has the advantages of structural design is reasonable, production low in manufacturing cost and control the convenience, industrial robot wrist assembly efficiency can be improved, the part rejection rate that causes is eliminated in traditional assembly method application process.
Description
Technical field
The utility model relates to industrial robot parts production and processing technical field, specifically a kind of industrial machine human wrist assembling servicing unit.
Background technology
In the industrial robot of being day by day used widely, wrist is 2 kinematic axis parts of the least significant end of each movable joint, its effect be connect and stationary machines people with external loading.Some 20kg of current main flow are with the back yard industry robot of internal burden, and its wrist structure is extremely compact, and great majority adopt cast aluminium shell, built-in circular-arc bevel gear to drive harmonic speed reducer to realize the mode of transmission.The enhancing of wrist flexibility, substantially increases the transaction capabilities of robot.At present abroad in robot Four Great families product line and domestic industrial robot industry few in number, successfully solved the Gesture how making wrist can meet robot working space to greatest extent, and make compact conformation, lightweight, positioning precision is high, flexibility is good, can adapt to the requirement of particular job environment.But relative to other kinematic axis of industrial robot, the requirement of assembling to personnel of the assembling of a wrist particularly axle of least significant end is higher, requires higher to the quality of fit of bearing, decelerator, circular-arc bevel gear.So, no matter be external senior brand industrial robot, or the domestic brand robot of up-and-coming youngster, in wrist assembling, mostly take the machining accuracy of raising parts and utilize the feel of skilled assembly crewman to guarantee the operation stability after wrist assembling.Even take above-mentioned two large key measures, also inevitably need repeatedly to adjust in assembling process, constantly by driving pulley and bearing cup assembly and harmonic speed reducer and cast aluminum casings dismounting, hand rotation input gear judges whether cooperation reaches most perfect condition.Thus, not only efficiency of assembling reduces greatly, and the being dismounted for multiple times of screw and cast aluminum casings can cause again screwed hole to be destroyed, and adds the quantity of defective products.So, in order to improve the efficiency of wrist body assembling and reduce the percent defective of cast aluminum casings, some special technical improvements must be taked.
Similar for certain domestic 20kg specification 6 shaft industrial robot wrist body each famous brand industrial robot structure, 6 shaft transmissions of its least significant end are primarily of (1) driving pulley and bearing cup assembly, (2) initiatively circular cone gear with curved teeth, (3) driven circular cone gear with curved teeth, (4) harmonic speed reducer, (5) end flange, (6) cast aluminum casings part composition.In traditional wrist assembling process, first active circular-arc bevel gear is fixed on driving pulley and bearing cup assembly, driven circular-arc bevel gear is fixed on harmonic speed reducer, again driving pulley assembly and harmonic speed reducer being generally M3 specification by screw is fixed in cast aluminum casings, is carried out the fiting effect of perception circle-arc tooth wheels by assembly crewman's manual rotation driving pulley.In the process, constantly to adjust bearing cup, pad between harmonic speed reducer and cast aluminum casings, finally reach optimal transmission effect.Adjust each time, all specification will be only had the screw of M3 and cast aluminum casings dismounting once, all wearing and tearing are caused until destroy to the screwed hole of cast aluminum casings each time.Adjust each time and all want about 12 screws of dismounting, and will tighten according to certain moment and order, had a strong impact on the efficiency of assembling, the productivity ratio of robot finished product is impacted.
In sum, the restriction condition that little load harmonic reducer structure industrial machine human wrist is maximum in assembling process: according to the feel of assembly crewman, continuous adjustment bearing cup, gap between harmonic speed reducer and cast aluminum casings, greatly reduce the efficiency of producing assembling on the one hand, substantially increase the scrappage of parts on the other hand.Therefore, produce assembling for this base part, movement effects perception after being badly in need of that exploitation is a kind of assembly crewman not only can having been allowed to complete the assembling of wrist parts fast, but also can avoid causing cast aluminum casings part the assembling servicing unit of wear-out failure.
Summary of the invention
In order to solve the problems of the technologies described above, the utility model provide a kind of reasonable in design, manufacturing cost is low, manipulation easily, the device of industrial machine human wrist efficiency of assembling can be improved, i.e. a kind of industrial machine human wrist assembling servicing unit.
The utility model solves its technical problem and realizes by the following technical solutions:
A kind of industrial machine human wrist assembling servicing unit, comprise base, side guide, side guide is linked up with, upper press ring, upper press ring handle, spring one, side guide pressure head, back-up ring, support, guide pillar, spring two, gangbar, saddle and crossbearer, the left end of described side guide and the front side of base are hinged, the upper center of described base is provided with pockets, described support symmetry is arranged on the left and right sides, upper end of base, described crossbearer is fixed by screws in the upper end of support, described gangbar vertically runs through in the middle part of crossbearer, the upper end of described upper press ring is provided with U-shaped frame, the described middle part of U-shaped frame and the lower end of gangbar are hinged, described guide pillar symmetry is arranged on the left upper end of U-shaped frame, upper right side, crossbearer is run through on the top of described guide pillar, the axis of guide pillar and the axis being parallel of gangbar, described spring two difference empty set is on guide pillar, the upper end of described spring two is connected with crossbearer, the lower end of described spring two is connected with U-shaped frame, described saddle is positioned at the right of gangbar, described saddle is vertically fixed on crossbearer, the described left end of upper press ring handle and the upper end of gangbar are hinged, the described middle part of upper press ring handle and the upper end of saddle are hinged, described one end of side guide hook and the right upper portion of base are hinged, the other end of described side guide hook matches with the right-hand member of side guide the locking positioning realized side guide, described back-up ring is positioned at the dead astern of side guide, the trailing flank of described back-up ring and base is connected, the anterior level of described side guide pressure head runs through side guide, described spring one empty set is at the middle part of side guide pressure head, one end of described spring one is connected with in the middle part of the rear side of side guide, the other end of described spring one is connected with the rear portion of side guide pressure head.First workpiece to be assembled is put in pockets, close side guide subsequently, side guide pressure head is made to be against on front side of workpiece to be assembled, the rear side of workpiece simultaneously to be assembled is installed in back-up ring, afterwards rotating side pressing plate hook, thus to the locked location of side guide, then upper press ring handle is manipulated, upper press ring is moved down under the guide effect of guide pillar, gangbar, until be pressed on the upper surface of workpiece to be assembled, can corresponding assembly manipulation be carried out.
The front portion of described side guide pressure head is provided with guide shaft, the rear portion of described side guide pressure head is provided with circular briquetting, described guide shaft level runs through side guide, described spring one empty set is on guide shaft, one end of described spring one is connected with in the middle part of the rear side of side guide, and the other end of described spring one is connected with circular briquetting.Circular briquetting can be carried out movable under guide shaft, side guide coordinate, to be pushed against on the surface of workpiece to be assembled.
The utility model is applicable to the assembling of industrial machine human wrist, industrial machine human wrist comprises driving pulley and bearing cup assembly, initiatively circular cone gear with curved teeth, driven circular cone gear with curved teeth, harmonic speed reducer, end flange, cast aluminum casings, utilize the technical solution of the utility model, the assembly manipulation of industrial machine human wrist can be realized fast.
Described base adopts nylon material to make, and ensure that whole special tooling uses light, carries and deposit assembling work on-the-spot without any impact, thus ensure that stablizing with efficient in industrial robot assembling manufacturing process.
The beneficial effects of the utility model are: the utility model has reasonable in design, manufacturing cost is low and manipulate the advantages such as convenient, industrial machine human wrist efficiency of assembling can be improved, eliminate the part scrap rate caused in traditional assembly method application process simultaneously; Abandon a redundancy link in traditional industrial machine human wrist assembling process, namely continuous by motion cooperation parts and housing screw repeated disassembled and assembled, thus reach the mode of best fit state; By the spring of appropriate type selecting, realize the equivalent pretension to harmonic speed reducer, driving pulley and bearing cup assembly, completely avoid wearing and tearing and destruction that the screwed hole repeated disassembled and assembled of screw to cast aluminum casings cause, solve the problem of assembly crewman tightens repeatedly, removal screw causes inefficiency and fatigue, assembling process is light, efficiency is high, all parts machining processes are simple, with low cost.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the detonation configuration schematic diagram of industrial machine human wrist;
Perspective view when Fig. 2 is work of the present utility model;
Fig. 3 is the perspective view of side guide of the present utility model when opening.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and beneficial effect clearly, below in conjunction with accompanying drawing, preferred embodiment of the present utility model being described in detail, the utility model is described further, to facilitate the technical staff to understand.
As shown in Figure 1 to Figure 3, a kind of industrial machine human wrist assembling servicing unit, comprise base 1, side guide 2, side guide hook 3, upper press ring 5, upper press ring handle 6, spring 1, side guide pressure head 8, back-up ring 9, support 10, guide pillar 11, spring 2 12, gangbar 13, saddle 14 and crossbearer 15, the left end of described side guide 2 and the front side of base 1 are hinged, the upper center of described base 1 is provided with pockets 1a, described support 10 symmetry is arranged on the left and right sides, upper end of base 1, described crossbearer 15 is fixed by screws in the upper end of support 10, described gangbar 13 vertically runs through in the middle part of crossbearer 15, the upper end of described upper press ring 5 is provided with U-shaped frame 5a, the described middle part of U-shaped frame 5a and the lower end of gangbar 13 are hinged, described guide pillar 11 symmetry is arranged on the left upper end of U-shaped frame 5a, upper right side, crossbearer 15 is run through on the top of described guide pillar 11, the axis of guide pillar 11 and the axis being parallel of gangbar 13, described spring 2 12 difference empty set is on guide pillar 11, the upper end of described spring 2 12 is connected with crossbearer 15, the lower end of described spring 2 12 is connected with U-shaped frame 5a, described saddle 14 is positioned at the right of gangbar 13, described saddle 14 is vertically fixed on crossbearer 15, the left end of described upper press ring handle 6 and the upper end of gangbar 13 are hinged, the middle part of described upper press ring handle 6 and the upper end of saddle 14 are hinged, described side guide hook one end of 3 and the right upper portion of base 1 are hinged, the other end of described side guide hook 3 matches with the right-hand member of side guide 2 locking positioning realized side guide 2, described back-up ring 9 is positioned at the dead astern of side guide 2, described back-up ring 9 is connected with the trailing flank of base 1, the anterior level of described side guide pressure head 8 runs through side guide 2, described spring 1 empty set is at the middle part of side guide pressure head 8, one end of described spring 1 is connected with in the middle part of the rear side of side guide 2, the other end of described spring 1 is connected with the rear portion of side guide pressure head 8.First workpiece to be assembled is put in pockets 1a, close side guide 2 subsequently, side guide pressure head 8 is made to be against on front side of workpiece to be assembled, the rear side of workpiece simultaneously to be assembled is installed in back-up ring 9, afterwards rotating side pressing plate hook 3, thus to the locked location of side guide 2, then upper press ring handle 6 is manipulated, upper press ring 5 is moved down under the guide effect of guide pillar 11, gangbar 13, until be pressed on the upper surface of workpiece to be assembled, can corresponding assembly manipulation be carried out.
The front portion of described side guide pressure head 8 is provided with guide shaft 8a, the rear portion of described side guide pressure head 8 is provided with circular briquetting 8b, described guide shaft 8a level runs through side guide 2, described spring 1 empty set is on guide shaft 8a, one end of described spring 1 is connected with in the middle part of the rear side of side guide 2, and the other end of described spring 1 is connected with circular briquetting 8b.Circular briquetting 8b can carry out movable under guide shaft 8a, side guide 2 coordinate, to be pushed against on the surface of workpiece to be assembled.
As shown in Figure 1, the utility model is applicable to the assembling of industrial machine human wrist 4, industrial machine human wrist 4 comprises driving pulley and bearing cup assembly 4a, initiatively circular cone gear with curved teeth 4b, driven circular cone gear with curved teeth 4c, harmonic speed reducer 4d, end flange 4e, cast aluminum casings 4f, utilize the technical solution of the utility model, the assembly manipulation of industrial machine human wrist 4 can be realized fast.
Described base 1 adopts nylon material to make, and ensure that whole special tooling uses light, carries and deposit assembling work on-the-spot without any impact, thus ensure that stablizing with efficient in industrial robot assembling manufacturing process.
When starting the parts of assembly industry robot wrist 4:
The first step: first active circular cone gear with curved teeth 4b, driven circular cone gear with curved teeth 4c are assembled with the power shaft of driving pulley and bearing cup assembly 4a and harmonic speed reducer 4d respectively, again driving pulley and bearing cup assembly 4a, harmonic speed reducer 4d, cast aluminum casings 4f three are assembled into together, but are fixed without screw;
Second step: opening side pressing plate 2, singlehanded pressure upper press ring 5, after putting into the parts of the industrial machine human wrist 4 be pre-installed, puts down upper press ring 5, and what realize harmonic speed reducer 4d is fastening;
3rd step: close side guide 2, what realize between cast aluminum casings 4f and driving pulley and bearing cup assembly 4a is fastening, starts hand rotation driving pulley, sensed activation flexibility and stability.
Operate about whole process only needed for 10 seconds in above-mentioned steps, and be screwed whole process in traditional assembly method and approximately need about 3 minutes.
When needs carry out pad adjustment to bearing cup assembly or harmonic speed reducer 4d:
The first step: lift side guide hook 3, opening side pressing plate 2;
Second step: one hand presses upper press ring handle 6;
3rd step: carry out pad adjustment.
Operate about whole process only needed for 5 seconds in above-mentioned steps, and be screwed whole process in traditional assembly method and approximately need about 2 minutes.
Universal experience, than more rich wrist assembly crewman, needs to carry out 3 to 5 adjustment in the process of assembling, and the screwed hole of cast aluminum casings 4f is in screw dismounting 6 times basic serious wear scrapping later.
After having assembled, lift side guide hook 3, opening side pressing plate 2, presses upper press ring handle 6, by needing the industrial machine human wrist 4 of adjustment or no-float to take out, carries out the subsequent job of robotic asssembly.
What finally illustrate is, above preferred embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model by above preferred embodiment, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from the utility model claims limited range.
Claims (4)
1. an industrial machine human wrist assembling servicing unit, comprise base (1), side guide (2), side guide hook (3), upper press ring (5), upper press ring handle (6), spring one (7), side guide pressure head (8), back-up ring (9), support (10), guide pillar (11), spring two (12), gangbar (13), saddle (14) and crossbearer (15), it is characterized in that: the left end of described side guide (2) and the front side of base (1) are hinged, described support (10) symmetry is arranged on the left and right sides, upper end of base (1), described crossbearer (15) is fixed by screws in the upper end of support (10), described gangbar (13) vertically runs through crossbearer (15) middle part, the upper end of described upper press ring (5) is provided with U-shaped frame (5a), the middle part of described U-shaped frame (5a) and the lower end of gangbar (13) are hinged, described guide pillar (11) symmetry is arranged on the left upper end of U-shaped frame (5a), upper right side, crossbearer (15) is run through on the top of described guide pillar (11), the axis of guide pillar (11) and the axis being parallel of gangbar (13), described spring two (12) difference empty set is on guide pillar (11), the upper end of described spring two (12) is connected with crossbearer (15), the lower end of described spring two (12) is connected with U-shaped frame (5a), described saddle (14) is positioned at the right of gangbar (13), described saddle (14) is vertically fixed on crossbearer (15), the left end of described upper press ring handle (6) and the upper end of gangbar (13) are hinged, the middle part of described upper press ring handle (6) and the upper end of saddle (14) are hinged, described side guide hook one end of (3) and the right upper portion of base (1) are hinged, the other end of described side guide hook (3) matches with the right-hand member of side guide (2) locking positioning realized side guide (2), described back-up ring (9) is positioned at the dead astern of side guide (2), described back-up ring (9) is connected with the trailing flank of base (1), the anterior level of described side guide pressure head (8) runs through side guide (2), described spring one (7) empty set is at the middle part of side guide pressure head (8), one end of described spring one (7) is connected with in the middle part of the rear side of side guide (2), the other end of described spring one (7) is connected with the rear portion of side guide pressure head (8).
2. a kind of industrial machine human wrist assembling servicing unit according to claim 1, it is characterized in that: the front portion of described side guide pressure head (8) is provided with guide shaft (8a), the rear portion of described side guide pressure head (8) is provided with circular briquetting (8b), described guide shaft (8a) level runs through side guide (2), described spring one (7) empty set is on guide shaft (8a), one end of described spring one (7) is connected with in the middle part of the rear side of side guide (2), and the other end of described spring one (7) is connected with circular briquetting (8b).
3. a kind of industrial machine human wrist assembling servicing unit according to claim 1, is characterized in that: the upper center of described base (1) is provided with pockets (1a).
4. a kind of industrial machine human wrist assembling servicing unit according to claim 1, is characterized in that: described base (1) adopts nylon material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520470370.1U CN204771516U (en) | 2015-06-30 | 2015-06-30 | Industrial robot wrist assembly auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520470370.1U CN204771516U (en) | 2015-06-30 | 2015-06-30 | Industrial robot wrist assembly auxiliary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204771516U true CN204771516U (en) | 2015-11-18 |
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ID=54511642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520470370.1U Withdrawn - After Issue CN204771516U (en) | 2015-06-30 | 2015-06-30 | Industrial robot wrist assembly auxiliary device |
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| Country | Link |
|---|---|
| CN (1) | CN204771516U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104942582A (en) * | 2015-06-30 | 2015-09-30 | 安徽埃夫特智能装备有限公司 | Industrial robot wrist assembling auxiliary device |
| CN107953160A (en) * | 2017-12-22 | 2018-04-24 | 新昌县三源轴承有限公司 | A kind of bearing outer ring polissoir |
| CN109328125A (en) * | 2016-04-20 | 2019-02-12 | 卡斯坦宁堡有限公司 | The method of manufacture machine people and the device for executing the method |
-
2015
- 2015-06-30 CN CN201520470370.1U patent/CN204771516U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104942582A (en) * | 2015-06-30 | 2015-09-30 | 安徽埃夫特智能装备有限公司 | Industrial robot wrist assembling auxiliary device |
| CN109328125A (en) * | 2016-04-20 | 2019-02-12 | 卡斯坦宁堡有限公司 | The method of manufacture machine people and the device for executing the method |
| CN109328125B (en) * | 2016-04-20 | 2022-04-29 | 卡斯坦宁堡有限公司 | Method for manufacturing a robot, robot and device for carrying out said method |
| CN107953160A (en) * | 2017-12-22 | 2018-04-24 | 新昌县三源轴承有限公司 | A kind of bearing outer ring polissoir |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 241000 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Patentee after: Eft intelligent equipment Limited by Share Ltd Address before: 241000 Anhui city of Wuhu province Jiujiang Economic Development Zone East Road No. 8 leap Patentee before: Anhui Effort Intelligent Equipment Co., Ltd. |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20151118 Effective date of abandoning: 20171114 |
|
| AV01 | Patent right actively abandoned |