CN209175772U - A kind of compound nested arrangement in robot shaft coupling joint - Google Patents
A kind of compound nested arrangement in robot shaft coupling joint Download PDFInfo
- Publication number
- CN209175772U CN209175772U CN201821281657.XU CN201821281657U CN209175772U CN 209175772 U CN209175772 U CN 209175772U CN 201821281657 U CN201821281657 U CN 201821281657U CN 209175772 U CN209175772 U CN 209175772U
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- CN
- China
- Prior art keywords
- filling
- slide
- lubricating sleeve
- shaft coupling
- feeding track
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Abstract
The utility model relates to a kind of robot shaft coupling joint compound nested arrangement, including fixing seat, the device for filling A for installing lubricating sleeve, the device for filling B for connecting cylinder installation are successively arranged in fixing seat.The utility model passes through the combination between two device for filling, two layers of shell and force-summing element are grouped together, extruding by boring stick can smoothly make the outer wall of lubricating sleeve fix with the interference fit of shell 3 is connect, connection this heavier characteristic of cylinder bulb can be made full use of by feeding track B and overturning mounting assembly, realize stable continuous installation, guarantee the inner cavity of lubricating sleeve and the bulb clearance fit that connect cylinder, achievees the purpose that control quality, automated production.
Description
Technical field
The utility model relates to the compound nestings in the technical field of robot, especially a kind of robot shaft coupling joint to fill
It sets.
Background technique
In well known technical field, plane articulation robot is generally by least three rotary shafts parallel to each other, rotation
It is parallel to each other between the cross section of axis.Main application fields have loading, unloading, welding, packaging, fixation, coating, spray painting, bonding,
Encapsulation, extraordinary carry operate, assemble etc..The rotation axis joint of robot is more, and the space and range of operation are bigger, but this
When whole projecting end self weight and operation needed for torque or other load, the joint of rotary shaft can be caused serious negative
Load, the precision of required assembly, the intensity of material and other processing requests are higher, it will greatly increase the cost of manufacture
With the cost of subsequent maintenance, also it is unfavorable for expanding more rotary shafts.Simultaneously plane articulation robot routine use occasion,
Generally it is mainly used for loading article, needs to bear certain impact and vibration, traditional robot joint structure is to heavy load
Ability to bear it is bad, the rigidity to entire mechanical mechanism is a kind of greatly challenge.
A kind of device of robot shaft coupling joint as disclosed in Figure of description 1 is needed 2 company of being embedded in of lubricating sleeve
It in body contact body 3, while connecting cylinder and needing to be embedded in lubricating sleeve 2, according to common operation, generally by hydraulic tool
Cooperation manual operation, inefficiency, while when facing this kind of structure, need the outer wall in view of lubricating sleeve 2 to need and connect
Shell 3 is interference fitted, and the two cannot loosen, and the inner cavity of lubricating sleeve 2 needs clearance fit with the bulb for connecting cylinder 1, manually
Operation is difficult to ensure stable quality.
Utility model content
Technical problem to be solved by the utility model is: overcoming the above problem, a kind of robot shaft coupling joint is provided with again
Nested arrangement is closed, the nested movement between connection cylinder 1, connection 3 three of shell of lubricating sleeve 2 can be completed, efficiently in order to rear
Continuous processing.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of robot shaft coupling joint is with compound embedding
Covering device, including fixing seat are successively arranged the device for filling A for installing lubricating sleeve, for connecting cylinder peace in fixing seat
The device for filling B of dress.
Further, as a kind of specific embodiment, device for filling A described in the utility model has for conveying
Feed device, the filling rod assembly of lubricating sleeve, the feed device have linearly feeding track A, the filler rod group
Part has the limit pedestal for the end that feeding track A is arranged in, and the lubricating sleeve can slide into along the side wall of limit pedestal, in institute
The top for stating limit pedestal is equipped with the filler rod that can be moved back and forth along the vertical direction and can run through limit pedestal, the filler rod
The cone stick of same central axis rotary setting is surrounded there are three at least having, and is equipped with gap between two adjacent cone sticks.
Further, as a kind of specific embodiment, there are four the tools of cone stick quantity described in the utility model, four
The top of a cone stick is equipped with connection body, the fixing head for connecting cylinder is equipped in the top of the connection body, described
The center of connection body is inlaid with adjustable column, and pre-compressed spring, the adjustable column are equipped between fixing head in the adjustable column
Lower end in bulb shape and resist cone stick top, it is described cone stick top be equipped with it is embeddable in connection body fixinig plate, institute
Fixinig plate is stated to be bolted on connection body.
Further, as a kind of specific embodiment, device for filling B described in the utility model has feeding track
B and overturning mounting assembly, the feeding track B have three horizontally disposed guide rods, and the cross section of the guide rod is perpendicular
Histogram is in the distribution of isoceles triangle shape upwards, and wherein two guide rods are located at same level, and a remaining guide rod is located at two
The top of horizontal plane where root guide rod, the overturning mounting assembly have and can move back and forth back and forth along the extension direction of guide rod
First slide, be equipped in the first slide and with the moving direction of first slide keep vertical second slide, described
Second slide is equipped with the third slide that can be moved back and forth back and forth along the vertical direction, is equipped on the third slide along level side
To stretching and rotatable mechanical gripper.
The beneficial effects of the utility model are: the utility model passes through the combination between two device for filling, by two layers of shell
Body and force-summing element are grouped together, by bore stick extruding can smoothly make the outer wall of lubricating sleeve with connect 3 mistake of shell
Cooperation of being full of is fixed, and can make full use of connection this heavier characteristic of cylinder bulb by feeding track B and overturning mounting assembly, real
Now stable continuous installation, guarantee the inner cavity of lubricating sleeve with connect the bulb clearance fit of cylinder, reach control quality, automation
The purpose of production.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structural schematic diagram in the shaft coupling joint of robot；
Fig. 2 is the overall structure diagram of the utility model；
Fig. 3 is the structural schematic diagram of device for filling A in the utility model；
Fig. 4 is the structural schematic diagram of filler rod in the utility model；
Fig. 5 is the perspective view of the explosion of filler rod in the utility model；
Fig. 6 is the structural schematic diagram of device for filling B in the utility model；
Fig. 7 is the partial enlargement diagram in Fig. 6 at A；
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
A kind of shaft coupling joint of robot as shown in Figure 1, has connection cylinder 1, and the upper end of connection cylinder 1 is in bulb
Shape, lower end are in bar shape, and lower end cylinder can be provided directly as stud, in the upper end of connection cylinder 1 in the outside of bulb shape by interior
To lubricating sleeve 2, connection shell 3 is successively arranged outside, the inner cavity of lubricating sleeve 2 is coated with graphene in hollow sphere shape and its surface
Wearing layer, and the lower end of lubricating sleeve 2 envelopes the upper end of connection cylinder 1, the entire bulb end for connecting cylinder 1 is covered by
In the inner cavity of lubricating sleeve 2, it is equipped with annular convex platform in the outside of connection shell 3, the top of the annular convex platform is set as interconnecting piece, even
Socket part can be directly connected to other mechanical arms or device, and the lower end of annular convex platform envelopes the lower end of lubricating sleeve 2, moistens simultaneously
Sliding sleeve 2 is embodied directly in connection shell 3.Plane articulation robot is bearing static load, i.e., in the rotary shaft of planar contact pair
The self weight in multiple joints can directly substitute traditional ball bearing part, pass through graphene by the pivoting friction of direct bulb
The effect of wearing layer also avoids needing after filling lubricant grease under conventional situation, is easy that the blocking of greasy dirt is be easy to cause to ask into ash
Topic, the contact of large area can be obviously improved the ability of carrying, while in order to prevent when bearing cargo load, may be in moment
The α angle of play is generated, spring bearing 4, the spring bearing can be equipped in the junction of the top and bottom of connection cylinder 1
4 are located at the lower section of lubricating sleeve 2, the better effect being implemented.In order to further enhance the stability of support, in spring bearing 4
Between lubricating sleeve 2 be equipped with limit lantern ring 5, while limit lantern ring 5 can play sealing lubrication set 2 inner surface with connect cylinder
The effect in the region that 1 bulb is constituted.
A kind of preferred embodiment of the compound nested arrangement in the utility model as shown in Figure 2 robot shaft coupling joint, packet
Fixing seat is included, the device for filling A9 for installing lubricating sleeve 2 is successively arranged in fixing seat, for connecting filling for the installation of cylinder 1
Action B11.
As shown in Fig. 3~Fig. 5, the device for filling A9 has feed device 91, the filler rod group for conveying lubricating sleeve 2
Part 92, the feed device 91 have linearly feeding track A911, and the filling rod assembly 92, which has, to be arranged in feeding
The limit pedestal 921 of the end of track A911, and lubricating sleeve 2 can slide into along the side wall of limit pedestal 921, in limit pedestal 921
Top be equipped with and can move back and forth and can have through the filler rod 922 of limit pedestal 921, the filler rod 922 along the vertical direction
There are four the cone sticks 9221 for surrounding same central axis rotary setting, and are equipped with gap between two adjacent cone sticks 9221,
The top that stick 9221 is bored at four is equipped with connection body 9224, is equipped in the top of connection body 9224 for connecting consolidating for cylinder
Determine first 9222, adjustable column 9223 is inlaid at the center of connection body 9224, in adjustable column 9223 between fixing head 9222
Equipped with pre-compressed spring, the lower end of the adjustable column 9223 is in bulb shape and resists the top for boring stick 9221, the cone stick 9221
Top is equipped with the embeddable fixinig plate in connection body 9224, and the fixinig plate is bolted on connection body 9224.
As shown in Figure 6 and Figure 7, the device for filling B11 has feeding track B111 and overturning mounting assembly 112, described
Feeding track B111 has three horizontally disposed guide rods 1111, and the cross section of the guide rod 1111 is in the vertical direction
The distribution of isoceles triangle shape, and wherein two guide rods 1111 are located at same level, a remaining guide rod 1111 is located at two
The top of 1111 place horizontal plane of guide rod, the overturning mounting assembly 112 have and can come along the extension direction of guide rod 1111
The first slide 1121 moved back and forth is returned, is equipped in first slide 1121 vertical with the holding of the moving direction of first slide 1121
Second slide 1122, the third slide 1123 that can move back and forth back and forth along the vertical direction is equipped in second slide 1122,
Third slide 1123 is equipped with stretching and rotatable mechanical gripper 1124 in the horizontal direction.
Above-described embodiment at work, can be first directly placed into mounting base 14 by mechanical arm by shell 3 is connected.
Mounting base 14 at this time equipped with connection shell 3 is moved to the lower section of limit pedestal 921, and feeding track A911 will lubricate
In 2 push-in limit pedestal 921 of set, then bores stick 9221 and resist lubricating sleeve 2 together and move downwardly together, until by lubricating sleeve 2
In filling to connection shell 3, since there are certain intervals between cone stick 9221, in the mistake that lubricating sleeve 2 is squeezed into connection shell 3
Cheng Zhong, cone stick 9221 will be merged into cylindrical body in shape is collapsed, until adapting to the size of connection 3 port of shell, finally to moisten
Sliding sleeve 2 completely with connect shell 3 be in close contact, then bore stick 9221 on lift, resetted under the action of pre-compressed spring.
First mounting base 14 for accommodating lubricating sleeve 2, connection shell 3 is moved under mechanical gripper 1124 at this time
Side, mechanical gripper 1124 passes through the effect of first slide 1121, second slide 1122, first horizontal towards the end of guide rod 1111
It moves, due to the guide rod 1111 in the distribution of isoceles triangle shape, being sent into connection cylinder 1 therein for every will be the case where being self-possessed
Under, upper end bulb is located between three guide rods 1111, and lower end columnar part freely hangs down, when mechanical gripper 1124 is traversing to even
After connecing 1 lower section of cylinder, mechanical gripper 1124 is moved up, and is then locked, and traversing round about, so that connection cylinder 1 is de-
From guide rod 1111, then tool handgrip 1124 is overturn, so that the bulb part of connection cylinder 1 is downward, is then proceeded to traversing to peace
14 top of seat is filled, is then filled in the bulb part for connecting cylinder 1 in lubricating sleeve 2 by third slide 1123, then filling dress
Set B11 reset.
Tentatively shaft coupling joint after the assembly is completed can be sent into next station processing by first mounting base 14, it is final until
Complete the installation of limit lantern ring 5, spring bearing 4.Several mounting bases 14 that are arranged it can carry out circulate operation again more.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technical idea completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to its technology is determined according to scope of the claims
Property range.
Claims (2)
1. a kind of robot shaft coupling joint compound nested arrangement, including fixing seat, it is characterised in that: on the fixing seat according to
The secondary device for filling A (9) being equipped with for installing lubricating sleeve (2), the device for filling B (11) for installing connection cylinder (1),
The device for filling A (9) have for convey lubricating sleeve (2) feed device (91), filling rod assembly (92),
The feed device (91) has linearly feeding track A (911), and there is the filling rod assembly (92) setting to exist
The limit pedestal (921) of the end of feeding track A (911), and the lubricating sleeve (2) can be slided along the side wall of limit pedestal (921)
Enter, being equipped in the top of limit pedestal (921) can move back and forth and can be through limit pedestal (921) along the vertical direction
Filler rod (922), the filler rod (922) at least have there are three the cone stick (9221) for surrounding same central axis rotary setting,
And it is equipped with gap between two adjacent cone sticks (9221),
The device for filling B (11) has feeding track B (111) and overturning mounting assembly (112),
The feeding track B (111) has three horizontally disposed guide rods (1111), the cross section of the guide rod (1111)
It is distributed in the vertical direction in isoceles triangle shape, and wherein two guide rods (1111) are located at same level, remaining one is led
The top of horizontal plane where being located at two guide rods (1111) to bar (1111),
Overturning mounting assembly (112) has the first slide that can be moved back and forth back and forth along the extension direction of guide rod (1111)
(1121), it is equipped on the first slide (1121) and keeps vertical second slide with the moving direction of first slide (1121)
(1122), the third slide (1123) that can be moved back and forth back and forth along the vertical direction is equipped on the second slide (1122),
The third slide (1123) is equipped with stretching and rotatable mechanical gripper (1124) in the horizontal direction.
2. a kind of compound nested arrangement in robot shaft coupling joint as described in claim 1, it is characterised in that: the cone stick
(9221) there are four quantity tools, the top that stick (9221) are bored at four is equipped with connection body (9224), in the connection body
(9224) top is equipped with the fixing head (9222) for connecting cylinder, is inlaid with tune at the center of connection body (9224)
Segmented column (9223) is equipped with pre-compressed spring, the adjustable column in the adjustable column (9223) between fixing head (9222)
(9223) lower end is in bulb shape and the top for resisting cone stick (9221), and the top of cone stick (9221) is equipped with embeddable in even
The fixinig plate of female connector body (9224), the fixinig plate are bolted in connection body (9224).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821281657.XU CN209175772U (en) | 2018-08-09 | 2018-08-09 | A kind of compound nested arrangement in robot shaft coupling joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821281657.XU CN209175772U (en) | 2018-08-09 | 2018-08-09 | A kind of compound nested arrangement in robot shaft coupling joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209175772U true CN209175772U (en) | 2019-07-30 |
Family
ID=67358131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821281657.XU Expired - Fee Related CN209175772U (en) | 2018-08-09 | 2018-08-09 | A kind of compound nested arrangement in robot shaft coupling joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209175772U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714912A (en) * | 2018-08-09 | 2018-10-30 | 常州市知豆信息科技有限公司 | A kind of compound nested arrangement in robot shaft coupling joint |
-
2018
- 2018-08-09 CN CN201821281657.XU patent/CN209175772U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714912A (en) * | 2018-08-09 | 2018-10-30 | 常州市知豆信息科技有限公司 | A kind of compound nested arrangement in robot shaft coupling joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190730 Termination date: 20200809 |