CN216398631U - Speed reducer installation tool and installation test system for cooperative robot - Google Patents
Speed reducer installation tool and installation test system for cooperative robot Download PDFInfo
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- CN216398631U CN216398631U CN202122610159.3U CN202122610159U CN216398631U CN 216398631 U CN216398631 U CN 216398631U CN 202122610159 U CN202122610159 U CN 202122610159U CN 216398631 U CN216398631 U CN 216398631U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model discloses a cooperative robot speed reducer installation tool and an installation test system, wherein the installation tool comprises a first base, a first horizontal sliding mechanism, a vertical sliding mechanism, a harmonic speed reducer assembly assembling mechanism and a joint shell assembling mechanism; the harmonic speed reducer assembly assembling mechanism is arranged on the vertical sliding mechanism, and the harmonic speed reducer assembly is arranged on the vertical sliding mechanism; the first horizontal sliding mechanism is arranged on the first base; the first horizontal sliding mechanism is also provided with a locking mechanism for locking the first horizontal sliding mechanism; the joint shell assembling mechanism is used for installing the joint shell on the first horizontal sliding mechanism; the axis of the joint shell is coincided with the axis of the harmonic speed reducer assembly by sliding the first horizontal sliding mechanism, and the installation of the downslide vertical sliding mechanism is completed. The utility model can improve the installation qualification rate of the speed reducer components of the cooperative robot, and avoid poor assembly caused by assembly problems, thereby further influencing the performance of the cooperative robot.
Description
Technical Field
The utility model relates to the technical field of installation and test equipment of a cooperative robot, in particular to an installation tool and an installation and test system of a speed reducer of a cooperative robot.
Background
A collaborative robot is a robot designed to interact with humans in close proximity in a common workspace. The working scene of the traditional industrial robot is that high-precision and high-speed operations such as welding, spraying, carrying and stacking, polishing and grinding are often finished after fences or other protective measures are protected. In order to ensure personal safety, a series of safety measures are required when the robot is used, for example, safety chain is used to limit the action of the robot in the safety fence, and workers need to stop or limit the robot to work when entering the safety fence. However, the way in which cooperative robots work is quite different. The safety fence can directly work on the same production line with an operator, and does not need to be isolated from people. Therefore, the novel traditional working mode is broken, and a bridge is built between the fully manual and fully automatic production modes. The cooperative robot and the traditional industrial robot have respective target markets, manufacturing modes and application fields based on different design concepts and product positioning.
The cooperative robot is combined through the joint module, as for the structure of the cooperative robot, a frameless torque motor and a harmonic reducer structure are adopted, the frameless torque motor is different from a traditional motor, a stator and a rotor of the frameless torque motor are separated, the stator is not arranged in an aluminum alloy shell, the rotor is adhered to an input shaft of the harmonic reducer through anaerobic adhesive, therefore, the stator is arranged in the joint shell, the rotor is arranged on the harmonic reducer, and when the harmonic reducer is assembled, the rotor is magnetic, so that when the rotor is arranged in the stator, the whole rotor is attracted to the wall of the stator, and the assembly cannot be carried out. Aiming at the problem, a tool needs to be designed to complete the installation and the test of the harmonic reducer.
SUMMERY OF THE UTILITY MODEL
The utility model provides a cooperative robot speed reducer installation tool and an installation test system, and aims to solve the technical problems.
The technical scheme adopted by the utility model is as follows: the utility model discloses a speed reducer mounting tool of a cooperative robot, which comprises a first base, a first horizontal sliding mechanism, a vertical sliding mechanism, a harmonic speed reducer assembly assembling mechanism and a joint shell assembling mechanism;
the harmonic speed reducer assembly assembling mechanism is installed on the vertical sliding mechanism, and a harmonic speed reducer assembly is installed on the vertical sliding mechanism;
the first horizontal sliding mechanism is arranged on the first base; the first horizontal sliding mechanism is also provided with a locking mechanism for locking the first horizontal sliding mechanism on the first base;
the joint shell assembling mechanism is used for installing a joint shell on the first horizontal sliding mechanism; the axis of the joint shell is coincided with the axis of the harmonic speed reducer assembly by sliding the first horizontal sliding mechanism, and the installation of the downslide vertical sliding mechanism is completed.
As a preferable mode of the installation tool for the speed reducer of the cooperative robot, the joint housing assembling mechanism includes a joint housing installation side plate installed on the first horizontal sliding mechanism and a second horizontal sliding mechanism;
the second horizontal sliding mechanism is used for axially positioning the joint shell, and the joint shell mounting side plate is connected with the side wall of the joint shell in a mounting mode.
As a preferable mode of the speed reducer mounting tool for a cooperative robot, the first horizontal sliding mechanism includes a first linear guide rail fixedly mounted on the first base, and a speed reducer mounting base slidably mounted on the first linear guide rail.
As a preferable mode of the speed reducer installation tool for the cooperative robot, the second horizontal sliding mechanism includes a third linear guide rail fixedly installed on the speed reducer installation base, and a joint housing base slidably installed on the third linear guide rail.
As a preferable mode of the speed reducer installation tool of the cooperative robot, a first stop block is further installed on the first base, and a second stop block is further installed on the speed reducer installation base.
As a preferable mode of the speed reducer installation tool of the cooperative robot, the harmonic speed reducer assembly assembling mechanism comprises a speed reducer clamp; the vertical sliding mechanism comprises an assembly upright post vertically arranged on the first base, a second linear guide rail arranged on the assembly upright post, a bracket fixing plate slidably arranged on the second linear guide rail and a power lifting mechanism; the speed reducer clamp is fixedly arranged on the support fixing plate.
As a preferable mode of the installation tool of the speed reducer of the cooperative robot, the power lifting mechanism comprises a first bevel gear fixing block, a first deep groove ball bearing, a first bevel gear, a second bevel gear, a rotating shaft, a second deep groove ball bearing, a screw nut, a screw rod, a positioning block, a bevel gear side fixing block, a locking wrench and a hand wheel;
the first bevel gear fixing block is arranged at the top of the assembling upright post, the outer ring of the first deep groove ball bearing is fixed by the first bevel gear fixing block and the assembling upright post, the top end of the screw rod is sleeved on the inner ring of the first deep groove ball bearing, the first bevel gear is fixedly arranged at the top of the screw rod, and the first bevel gear is meshed with the second bevel gear; the second bevel gear is fixedly arranged at one end of the rotating shaft, a hand wheel is fixedly arranged at the other end of the rotating shaft, the rotating shaft is fixed on the bevel gear side fixing block through the second deep groove ball bearing, the bevel gear side fixing block is fixedly arranged on the first bevel gear fixing block, and the locking wrench is further arranged on the rotating shaft; the screw rod nut is sleeved on the screw rod and fixedly connected with the bracket fixing plate; the positioning block is fixedly installed at the bottom of the assembling upright post and limits the screw rod nut.
As a preferable mode of the installation tool for the speed reducer of the cooperative robot, the installation tool further comprises an electrostatic table, and the first base is installed on the electrostatic table.
The utility model also discloses a cooperative robot speed reducer installation test system, which comprises a test tool and a cooperative robot speed reducer installation tool, wherein the test tool comprises a second base, a dial indicator installation seat, a dial indicator bracket, a dial indicator column and a fixing mechanism;
the second base is arranged on the first base, a sliding groove is formed in the second base, and the dial indicator mounting seat is arranged in the sliding groove; the bottom end of the dial indicator column is mounted on the dial indicator mounting seat, the top end of the dial indicator column is hinged with one end of the dial indicator bracket, and the dial indicator is mounted at the other end of the dial indicator bracket; the fixing mechanism is used for preventing the dial indicator support and the dial indicator column from rotating.
As a preferable mode of installing the test system on the speed reducer of the cooperative robot, the fixing mechanism comprises a magnetic base and a magnetic base positioning block, the magnetic base is fixedly installed on the dial indicator bracket, and the magnetic base positioning block is fixedly installed on the dial indicator column.
The utility model has the beneficial effects that: the utility model can improve the installation qualification rate of the speed reducer components of the cooperative robot, and avoid poor assembly caused by assembly problems, thereby further influencing the performance of the cooperative robot.
Drawings
Fig. 1 is a schematic structural diagram of a cooperative robot reducer installation testing system disclosed by the utility model.
Fig. 2 is a front view of the cooperative robot reducer installation testing system disclosed in the present invention.
Fig. 3 is a cross-sectional view of the installation testing system of the speed reducer of the cooperative robot disclosed by the utility model.
Fig. 4 is another cross-sectional view of the cooperative robot reducer installation testing system disclosed in the present invention.
Fig. 5 is a schematic structural diagram of the cooperative robot speed reducer installation testing system disclosed by the utility model during testing.
Reference numerals: 1. a dial indicator; 2. a dial gauge bracket; 3. a magnetic base; 4. a dial gauge column; 5. a magnetic base positioning block; 6. a bracket fixing plate; 7. a reducer clamp; 8. assembling the upright post; 9. locking the wrench; 10. a hand wheel; 11. a harmonic reducer assembly; 12. a joint housing; 13. the joint shell is provided with a side plate; 14. a joint housing base; 15. the speed reducer is provided with a base; 16. a first linear guide rail; 17. a first base; 18. an electrostatic table; 19. a first stopper; 20. a first bevel gear fixing block; 21. a first deep groove ball bearing; 22. a first bevel gear; 23. A second taper tooth; 24. a rotating shaft; 25. a second deep groove ball bearing; 26. a feed screw nut; 27. a screw rod; 28. Positioning blocks; 29. a second linear guide; 30. a second stopper; 31. a bevel gear side fixing block; 32. a third linear guide rail; 33. a second base; 34. a chute; 35. a dial indicator mounting base; 36. and (4) a locking mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings, but embodiments of the present invention are not limited thereto.
Example 1:
referring to fig. 1-4, the present embodiment provides a speed reducer installation tool for a cooperative robot, including a first base 17, a first horizontal sliding mechanism, a vertical sliding mechanism, a harmonic speed reducer assembly assembling mechanism, and a joint housing assembling mechanism.
The harmonic speed reducer assembly assembling mechanism is installed on the vertical sliding mechanism, and the vertical sliding mechanism is used for installing the harmonic speed reducer assembly.
Specifically, harmonic reducer subassembly assembly devices includes speed reducer anchor clamps 7. The vertical sliding mechanism comprises an assembly upright post 8 vertically installed on the first base 17, a second linear guide rail 29 installed on the assembly upright post 8, a support fixing plate 6 installed on the second linear guide rail 29 in a sliding mode, and a power lifting mechanism. The speed reducer clamp 7 is mounted on the bracket fixing plate 6 through bolts.
Referring to fig. 3 and 4, the power lifting mechanism includes a first bevel gear fixing block 20, a first deep groove ball bearing 21, a first bevel gear 22, a second bevel gear 23, a rotating shaft 24, a second deep groove ball bearing 25, a screw nut 26, a screw 27, a positioning block 28, a bevel gear side fixing block 31, a locking wrench 9, and a hand wheel 10. The first bevel gear fixing block 20 is installed on the end face of the top of the assembling upright post 8, the first bevel gear fixing block 20 and the assembling upright post 8 fix the outer ring of the first deep groove ball bearing 21, the top end of the screw rod 27 is sleeved on the inner ring of the first deep groove ball bearing 21, the top of the screw rod 27 is fixedly provided with a first bevel gear 22, and the first bevel gear 22 is meshed with a second bevel gear 23. The second bevel gear 23 is installed at one end of the rotating shaft 24 through a bolt, the hand wheel 10 is fixedly installed at the other end of the rotating shaft 24, the rotating shaft 24 is fixed on a bevel gear side fixing block 31 through a second deep groove ball bearing 25, the bevel gear side fixing block 31 is fixedly installed on the first bevel gear fixing block 20, and a locking wrench 9 is further installed on the rotating shaft 24 and used for preventing the rotating shaft 24 from rotating and avoiding misoperation. The screw nut 26 is sleeved on the screw 27, and the screw nut 26 is connected with the bracket fixing plate 6 through a bolt. The positioning block 28 is installed at the bottom of the assembling upright post 8 through a bolt and limits the screw nut 26. The locking mechanism 36 may be a locking screw.
By rotating the hand wheel 10, the second bevel gear 23 drives the first bevel gear 22 to rotate, and drives the screw rod 27 to rotate, so that the screw rod nut 26 moves up and down, and the bracket fixing plate 6 is driven to move up and down. Due to the characteristics of the screw rod 27, when the screw rod 27 is matched with the screw rod nut 26, when torsional force is not applied to the screw rod 27, the screw rod nut 26 and the screw rod 27 have the self-locking characteristic, so that the situation that the equipment moves to change the position can be effectively avoided when no tool is used or subsequent actual production is carried out. Thereby effectively ensuring the safety.
The first horizontal sliding mechanism is installed on the first base 17, and a locking mechanism 36 is further arranged on the first horizontal sliding mechanism and used for locking the first horizontal sliding mechanism on the first base 17. The joint housing assembly mechanism is used for mounting the joint housing 12 on the first horizontal sliding mechanism; the axis of the joint shell 12 is overlapped with the axis of the harmonic speed reducer assembly by sliding the first horizontal sliding mechanism, and the installation can be completed by sliding the vertical sliding mechanism.
Specifically, the joint housing attachment mechanism includes a joint housing attachment side plate 13 attached to the first horizontal sliding mechanism and a second horizontal sliding mechanism. The second horizontal sliding mechanism is used for axially positioning the joint shell 12, and the joint shell mounting side plate 13 is connected with the side wall of the joint shell 12 in a mounting manner. The first horizontal sliding mechanism comprises a first linear guide rail 16 fixedly installed on a first base 17 and a speed reducer installing base 15 installed on the first linear guide rail 16 in a sliding mode, and a sliding block is fixedly arranged on the speed reducer installing base 15, so that the sliding on the first linear guide rail 16 is achieved.
The second horizontal sliding mechanism comprises a third linear guide rail 32 fixedly mounted on the speed reducer mounting base 15 and a joint shell base 14 slidably mounted on the third linear guide rail 32, and the joint shell base 14 is fixedly mounted on a sliding block so as to slide on the third linear guide rail 32. The first base 17 is further provided with a first stop block 19, and the reducer mounting base 15 is further provided with a second stop block 30.
Specifically, a sleeve for axially positioning the stator in the joint housing 12 is fixedly mounted on the joint housing base 14, the joint housing 12 is vertically placed on the joint housing base 14, and then the joint housing base 14 is slid and the joint housing 12 is fixed on the joint housing mounting side plate 13. Aiming at the joint shells 12 with different sizes and models, only the joint shell base 14 and the speed reducer clamp 7 need to be replaced.
Specifically, the speed reducer installation tool for the cooperative robot of the embodiment further comprises an electrostatic table 18, and the first base 17 is installed on the electrostatic table 18.
Example 2
Referring to fig. 1, the embodiment discloses a cooperative robot reducer installation test system, which includes a test fixture and the cooperative robot reducer installation fixture of embodiment 1, wherein the test fixture includes a second base 33, a dial indicator installation seat 35, a dial indicator 1, a dial indicator bracket 2, a dial indicator column 4 and a fixing mechanism.
Specifically, the second base 33 is installed on the first base 17 through a bolt, a sliding groove 34 is formed in the second base 33, and the dial indicator installation seat 35 is installed in the sliding groove 34. Install on amesdial mount pad 35 in 4 bottoms of amesdial post, 4 tops of amesdial post are articulated with amesdial support 2 one end, and the other end at amesdial support 2 is installed to amesdial 1. The fixing mechanism is used for preventing the dial indicator bracket 2 and the dial indicator column 4 from rotating.
Specifically, fixed establishment includes magnetic base 3 and magnetic base locating piece 5, and 3 fixed mounting of magnetic base are on amesdial support 2, and 3 locating pieces fixed mounting of magnetic base are on amesdial post 4.
After the harmonic speed reducer subassembly 11 is put into joint casing 12 and is fixed, release speed reducer installation base 15, rotate amesdial support 2, place 2 amesdial 1 into as shown in figure 5, twist the switch of magnetic force seat 3, magnetic force seat 3 is fixed to magnetic force seat locating piece 5 through magnetic force, after the stator circular telegram in joint casing 12, can make the end cover on the harmonic speed reducer subassembly 11 rotate, amesdial 1 will carry out the test of the axial and the radial runout of harmonic speed reducer subassembly output. To detect whether the harmonic reducer assembly 11 is properly assembled.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A speed reducer mounting tool of a cooperative robot is characterized by comprising a first base, a first horizontal sliding mechanism, a vertical sliding mechanism, a harmonic speed reducer assembly assembling mechanism and a joint shell assembling mechanism;
the harmonic speed reducer assembly assembling mechanism is installed on the vertical sliding mechanism, and a harmonic speed reducer assembly is installed on the vertical sliding mechanism;
the first horizontal sliding mechanism is arranged on the first base; the first horizontal sliding mechanism is also provided with a locking mechanism for locking the first horizontal sliding mechanism on the first base;
the joint shell assembling mechanism is used for installing a joint shell on the first horizontal sliding mechanism; the axis of the joint shell is coincided with the axis of the harmonic speed reducer assembly by sliding the first horizontal sliding mechanism, and the installation of the downslide vertical sliding mechanism is completed.
2. The reduction gear mounting tool for a cooperative robot as recited in claim 1, wherein the joint housing mounting mechanism includes a joint housing mounting side plate mounted on the first horizontal sliding mechanism and a second horizontal sliding mechanism;
the second horizontal sliding mechanism is used for axially positioning the joint shell, and the joint shell mounting side plate is connected with the side wall of the joint shell in a mounting mode.
3. The cooperative robot speed reducer installation tooling of claim 2, wherein the first horizontal sliding mechanism comprises a first linear guide fixedly mounted on the first base and a speed reducer installation base slidably mounted on the first linear guide.
4. The cooperative robot speed reducer installation tooling of claim 3, wherein the second horizontal sliding mechanism comprises a third linear guide fixedly mounted on the speed reducer installation base and a joint housing base slidably mounted on the third linear guide.
5. The cooperative robot speed reducer installation tool of claim 4, wherein the first base is further provided with a first stop, and the speed reducer installation base is further provided with a second stop.
6. The cooperative robot speed reducer installation tooling of claim 1, wherein the harmonic speed reducer assembly fitting mechanism comprises a speed reducer clamp; the vertical sliding mechanism comprises an assembly upright post vertically arranged on the first base, a second linear guide rail arranged on the assembly upright post, a bracket fixing plate slidably arranged on the second linear guide rail and a power lifting mechanism; the speed reducer clamp is fixedly arranged on the support fixing plate.
7. The cooperative robot speed reducer installation tool of claim 6, wherein the power lifting mechanism comprises a first bevel gear fixing block, a first deep groove ball bearing, a first bevel gear, a second bevel gear, a rotating shaft, a second deep groove ball bearing, a screw nut, a screw rod, a positioning block, a bevel gear side fixing block, a locking wrench and a hand wheel;
the first bevel gear fixing block is arranged at the top of the assembling upright post, the outer ring of the first deep groove ball bearing is fixed by the first bevel gear fixing block and the assembling upright post, the top end of the screw rod is sleeved on the inner ring of the first deep groove ball bearing, the first bevel gear is fixedly arranged at the top of the screw rod, and the first bevel gear is meshed with the second bevel gear; the second bevel gear is fixedly arranged at one end of the rotating shaft, a hand wheel is fixedly arranged at the other end of the rotating shaft, the rotating shaft is fixed on the bevel gear side fixing block through the second deep groove ball bearing, the bevel gear side fixing block is fixedly arranged on the first bevel gear fixing block, and the locking wrench is further arranged on the rotating shaft; the screw rod nut is sleeved on the screw rod and fixedly connected with the bracket fixing plate; the positioning block is fixedly installed at the bottom of the assembling upright post and limits the screw rod nut.
8. The cooperative robot speed reducer installation tooling of any one of claims 1 to 7, further comprising an electrostatic table on which the first base is mounted.
9. A cooperative robot speed reducer installation test system is characterized by comprising a test tool and the cooperative robot speed reducer installation tool of any one of claims 1 to 8, wherein the test tool comprises a second base, a dial indicator installation seat, a dial indicator bracket, a dial indicator column and a fixing mechanism;
the second base is arranged on the first base, a sliding groove is formed in the second base, and the dial indicator mounting seat is arranged in the sliding groove; the bottom end of the dial indicator column is mounted on the dial indicator mounting seat, the top end of the dial indicator column is hinged with one end of the dial indicator bracket, and the dial indicator is mounted at the other end of the dial indicator bracket; the fixing mechanism is used for preventing the dial indicator support and the dial indicator column from rotating.
10. The cooperative robot speed reducer installation testing system of claim 9, wherein the fixing mechanism comprises a magnetic base and a magnetic base positioning block, the magnetic base is fixedly installed on the dial indicator bracket, and the magnetic base positioning block is fixedly installed on the dial indicator column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122610159.3U CN216398631U (en) | 2021-10-28 | 2021-10-28 | Speed reducer installation tool and installation test system for cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122610159.3U CN216398631U (en) | 2021-10-28 | 2021-10-28 | Speed reducer installation tool and installation test system for cooperative robot |
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| CN216398631U true CN216398631U (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122610159.3U Active CN216398631U (en) | 2021-10-28 | 2021-10-28 | Speed reducer installation tool and installation test system for cooperative robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115255909A (en) * | 2022-06-22 | 2022-11-01 | 日照市越疆智能科技有限公司 | Automatic assembly production line and method for joints of industrial robot and storage medium |
-
2021
- 2021-10-28 CN CN202122610159.3U patent/CN216398631U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115255909A (en) * | 2022-06-22 | 2022-11-01 | 日照市越疆智能科技有限公司 | Automatic assembly production line and method for joints of industrial robot and storage medium |
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