CN217728795U - Central hand dismounting device of robot - Google Patents

Abstract

The utility model belongs to the technical field of the robot, especially, relate to a central hand dismouting device of robot, include can with treat that the fixed subassembly that links to each other of dismouting center pin, through the tractive spare with the drive assembly that fixed subassembly links to each other and can fix the cover and locate the guide assembly who links to each other with the center pin on the arm that links to each other with the center pin and be used for carrying on the guidance of tractive spare, drive assembly is fixed or independent installation in the robot, is convenient for and treat the center pin of dismouting to connect and fix through setting up fixed subassembly, thereby drive the tractive spare under drive assembly's effect and carry out the rolling, and then utilize the tractive spare to drive the center pin through fixed subassembly and remove, be convenient for can be with its fixed mounting on the arm that links to each other with the center pin before the dismouting through setting up the guide assembly, conveniently realize center pin axial displacement's direction, can utilize the drive assembly to assist the dismantlement and the installation work that carries out the center pin, drive the center pin through setting up the tractive spare and remove the operational environment that is convenient for adapting to differences.

Description

Central hand dismounting device of robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a central hand dismouting device of robot.

Background

In the manufacturing industry, robots are widely used as equipment on production lines, the robots are used at central hand parts which can not move in a rotating direction of shafts matched with the robots, output rotating speeds are changed according to specific proportions through the central hand parts, meanwhile, the torque of a motor is transmitted and output to an execution part, two fastening connection points of output ends of the central hand parts are provided, the two fastening connection points are respectively connected by flanges in an external connection mode, and the two fastening connection points are connected by splines in an internal connection mode.

Us patent discloses a robot and a robot system comprising a robot arm having: an A arm rotating around the A rotation axis; the robot central spindle mainly adopts a gantry type lifting appliance mode during disassembly and assembly, generally a gantry type lifting appliance is lifted on the edge of a central hand shell, the central hand is disassembled and assembled by the aid of the gantry type lifting appliance, and due to the influence of the work space of a line body station, disassembly and assembly work can be carried out only on a station in a larger space of a production line body, the operation is complex, and the requirement of replacement work cannot be met.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot center hand dismouting device aims at solving current robot and receives the influence of line body station operation space, can only carry out the dismouting operation at the great space station of the production line body, and the operation is comparatively complicated, can not satisfy the problem of all operating mode space center pin dismouting operation demands.

The utility model discloses a realize like this, a central hand dismouting device of robot, include: the robot comprises a robot body, a central shaft, a fixing assembly, a driving assembly and a guide assembly, wherein the robot body is provided with a central shaft, the central shaft is fixedly connected with the fixing assembly, the driving assembly is connected with the fixing assembly through a traction piece, the guide assembly can be fixedly sleeved on a mechanical arm connected with the central shaft and used for guiding the traction piece, and the driving assembly is fixedly or independently installed on the robot body.

The utility model discloses a central hand dismouting device of robot, be convenient for and treat the center pin of dismouting to connect and fix through setting up fixed subassembly, thereby it rolls to drive the tractive spare under drive assembly's effect, and then utilize the tractive spare to drive the center pin through fixed subassembly and remove, be convenient for can be with its fixed mounting on the arm that links to each other with the center pin before the dismouting through setting up the direction subassembly, thereby conveniently realize center pin axial displacement's direction, and then can utilize drive assembly to assist the dismantlement and the installation work that carries out the center pin, it removes the different operational environment of adaptation of being convenient for to drive the center pin through setting up the tractive spare, even still can assist the dismantlement work that carries out the center pin in narrow and small space, the influence of line body station operation space to center pin dismouting work has been avoided, and drive the center pin through drive assembly and remove, the operation flow is simplified, can satisfy the change operation demand, it is more convenient and reliable to use.

Preferably, the fixing assembly comprises: can with the retaining member that center pin terminal surface preformed hole screw thread meets, with retaining member threaded connection's switching unit and connect in switching unit and the adjusting part of laying with the retaining member parallel, the adjusting part meets with the one end that drive assembly was kept away from to the tractive piece.

Preferably, the locking member comprises an annular part, a straight rod part, a convex part and a locking thread part which is connected with the central shaft in sequence, and the switching unit is in threaded connection with the locking thread part.

Preferably, the switching unit includes a switching member having one end in threaded connection with the locking thread portion, a ring member sleeved on the straight rod portion, and a fixing member abutting against one side of the ring member and penetrating into the switching member, and the other end of the switching member is in threaded connection with the adjusting member.

Preferably, the adjusting member includes a fixing portion with an opening at one side thereof and an adjusting screw portion fixedly installed at the other side of the fixing portion and having a hollow interior, the pulling member slidably penetrates through the adjusting screw portion and one end thereof far away from the driving assembly and penetrates out of the fixing portion, and a limiting member capable of abutting against an end face of the fixing portion is installed on the pulling member, and a gasket is installed inside the fixing portion.

Preferably, the drive assembly comprises: the winding device comprises a mounting part fixedly mounted on a robot main body, a supporting frame fixedly arranged at the top of the mounting part, a winding part rotatably mounted in the supporting frame and used for winding a traction part, and a driving unit connected with the winding part.

Preferably, the driving unit includes: rotate install in rotate on the inside both sides wall of carriage, fixed cover are located rotate the first connecting piece, the rotation of rotating the piece install in carriage bottom and with the second connecting piece that first connecting piece links to each other and with the rotating member that the second connecting piece links to each other and is located the carriage top, the fixed cover of winding is located rotate the outside.

Preferably, the reinforcing roots are fixedly arranged on two sides of the top of the mounting piece, a plurality of mounting holes are formed in the mounting piece, and an outer cover fixed inside the supporting frame is arranged on the outer side of the first connecting piece.

Preferably, the guide assembly comprises: the anti-falling device comprises two semi-ring pieces which are oppositely arranged and can be sleeved on the mechanical arm, a guide piece rotatably installed on one side of the semi-ring pieces, an anti-falling piece fixedly arranged outside the semi-ring pieces and located on one side of the guide piece, and fixing openings connected to two ends of each semi-ring piece.

Preferably, a plurality of anti-skidding pieces which can be attached to the outer surface of the mechanical arm are fixedly mounted on the inner side of the half ring piece.

Compared with the prior art, the beneficial effects of the utility model are that: the central shaft that is convenient for and treats the dismouting through setting up fixed subassembly is connected and is fixed, thereby it carries out the rolling to drive the tractive spare under drive assembly's effect, and then utilize the tractive spare to drive the central shaft through fixed subassembly and remove, be convenient for can be with its fixed mounting on the arm that links to each other with the central shaft before the dismouting through setting up the direction subassembly, thereby conveniently realize the direction of central shaft axial displacement, and then can utilize drive assembly to assist the dismantlement and the installation work that carries out the central shaft, it removes the operational environment of different adaptation of being convenient for to drive the central shaft through setting up the tractive spare, even still can assist the dismantlement work that carries out the central shaft in narrow and small space, the influence of line body station operation space to central shaft dismouting work has been avoided, and drive the central shaft through drive assembly and remove, the operation flow is simplified, can satisfy the change operation demand, it is convenient and reliable more to use.

Drawings

Fig. 1 is a three-dimensional structure diagram of a robot center hand dismounting device provided by the utility model;

fig. 2 is a three-dimensional structure diagram of a fixing component of the robot central hand dismounting device provided by the utility model;

fig. 3 is a three-dimensional structure diagram of a driving assembly of a robot central hand dismounting device provided by the present invention;

fig. 4 is a three-dimensional structure diagram of a guiding assembly of the robot central hand dismounting device provided by the utility model.

In the drawings: the device comprises a drawing part 1, a fixing component 2, a locking component 21, a ring part 211, a straight rod part 212, a convex part 213, a locking thread part 214, a switching unit 22, a switching component 221, a ring part 222, a fixing component 223, an adjusting component 23, a fixing component 231, an adjusting thread part 232, a limiting component 233, a driving component 3, a mounting component 31, a winding component 32, a driving unit 33, a rotating component 331, a first connecting component 332, a second connecting component 333, a rotating component 334, a guiding component 4, a half ring part 41, a guiding component 42, a disengagement preventing component 43 and an anti-slip component 44.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following detailed description is provided for the specific embodiments of the present invention.

Example 1

As shown in fig. 1-3, for the utility model provides a structure chart of central hand dismouting device of robot, include: can with treat that the dismouting center pin is fixed continuous fixed subassembly 2, through tractive spare 1 with drive assembly 3 that fixed subassembly 2 links to each other and can fix the cover and locate on the arm that links to each other with the center pin and be used for carrying on the guide subassembly 4 that tractive spare 1 led, drive assembly 3 is fixed or independently installs in the robot.

This embodiment is when in-service use, be convenient for and treat the center pin of dismouting to connect and fix through setting up fixed subassembly 2, thereby drive tractive spare 1 and carry out the rolling under drive assembly 3's effect, and then utilize tractive spare 1 to drive the center pin through fixed subassembly 2 and remove, be convenient for can be with its fixed mounting on the arm that links to each other with the center pin before the dismouting through setting up guide assembly 4, thereby conveniently realize center pin axial displacement's direction, and then can utilize drive assembly 3 to assist the dismantlement and the installation work of carrying out the center pin, it is convenient for adapt to different operational environment to drive the center pin through setting up tractive spare 1 and remove, even still can assist the dismantlement work of carrying out the center pin in narrow and small space, the influence of line body station operation space to center pin dismouting work has been avoided, and drive the center pin through drive assembly 3 and remove, the operation flow is simplified, can satisfy the change operation demand, it is convenient and reliable more to use.

In particular, the fixing assembly 2 comprises: the locking member 21 that can meet with center pin terminal surface preformed hole screw thread, with locking member 21 threaded connection's switching unit 22 and connect in switching unit 22 and with the adjustment piece 23 that locking member 21 parallel layout, adjustment piece 23 meets with the one end that drive assembly 3 was kept away from to tractive spare 1.

What can learn is convenient for and treat the center pin of loading and unloading to connect fixedly through setting up fixed subassembly 2, thereby can drive it through the traction piece 1 that links to each other with fixed subassembly 2 and move in order to realize the axial displacement of center pin, utilize retaining member 21 to be convenient for and the terminal surface of center pin to reserve the screw hole and connect, and be convenient for laminate mutually with the side of center pin through switching unit 22, thereby realize fixed subassembly 2 radial spacing, utilize adjusting part 23 and traction piece 1 to meet, thereby drive traction piece 1 adjusting part 23 through drive assembly 3 and move in order to realize the removal of center pin.

Further, retaining member 21 is including the annular portion 211, straight rod part 212, the bellying 213 that meet in proper order and be used for the locking screw portion 214 that meets with the central axle, switching unit 22 meets with locking screw portion 214 screw thread, utilizes annular portion 211 to be convenient for conveniently rotate at actual installation and dismantlement in-process to inside the reservation screw hole of rotatory central axle terminal surface of locking screw portion 214, be convenient for install and spacing switching unit 22 through setting up bellying 213.

Furthermore, the adaptor unit 22 includes a transfer member 221 having one end screwed with the locking screw 214, a ring member 222 sleeved on the straight rod 212, and a fixing member 223 abutting against one side of the ring member 222 and penetrating into the transfer member 221, and the other end of the transfer member 221 is screwed with the adjusting member 23.

It should be noted that, the locking member 21 and the adjusting member 23 are connected by the intermediary member 221, and the locking member 21 and the intermediary member 221 are further positioned by the annular member 222, and the stability of the locking member 21 and the intermediary member 221 is further increased by the fixing member 223, and the intermediary member 221 may also abut against the side of the mechanical arm outside the central shaft to ensure radial position limitation.

In one aspect of this embodiment, the adjusting element 23 includes a fixing portion 231 having an opening recessed on one side thereof and an adjusting thread portion 232 fixedly installed on the other side of the fixing portion 231 and having a hollow interior, the pulling element 1 slidably penetrates through the adjusting thread portion 232, one end of the pulling element, which is far away from the driving assembly 3, penetrates through the fixing portion 231 and is installed with a limiting member 233 capable of abutting against an end surface of the fixing portion 231, and a washer is installed inside the fixing portion 231.

The utility model discloses an in the example, adjusting part 23 set up be convenient for carry on the connection and the fixing of tractive spare 1, utilize adjustment screw portion 232 to be convenient for carry on the installation of transfer 221, tractive spare 1 cross-under is convenient for carry out the direction of one section distance to tractive spare 1 in adjustment screw portion 232 is inside, and carry out spacing in order to guarantee tractive spare 1 can the smooth operation when the pulling through locating part 233, be convenient for further increase the stability of device through setting up the packing ring, it is more convenient and reliable to use.

For example, the driving assembly 3 may be fixed to the robot body or may be separately installed, as long as the pulling member 1 is driven to move; the locking piece 21 can be a lengthened screw rod or a screw rod with other shapes, and of course, other connection modes can be adopted as long as the locking piece can be axially fixed with the central shaft; the adjusting member 23 may be a hollow lead screw nut, the intermediate member 221 may be a nut sleeve, and the annular member 222 may be a positioning ring or a fixing block; the fixing member 223 may be a fastening bolt or a fixing pin as long as the ring member 222 can be fixed; the limiting member 233 may be a U-shaped lock or a limiting bolt, as long as it can cooperate with the fixing portion 231 to limit the end of the pulling member 1; the pulling member 1 may be a steel wire or a pulling rope as long as it can pull the central shaft, and the embodiment is not particularly limited herein.

It should be noted that, in the actual operation process, when the central shaft needs to be disassembled, the central shaft can be firstly fixed with the threaded hole of the central shaft through the locking piece 21, the guide assembly 4 is fixed on the mechanical arm, and then the pulling piece 1 is driven to slowly move through the driving assembly 3, so that the central shaft can be ensured to be slowly moved downwards along the axial direction; the fixing assembly 2 can be selected according to the size of the central shaft, two sets are provided in the application, and multiple sets can be provided according to requirements to ensure that the central shaft is stable in the process of dismounting.

Example 2

As shown in fig. 1 and 3, in embodiment 1, the driving assembly 3 includes: the winding device comprises a mounting part 31 fixedly mounted on a robot body, a supporting frame fixedly arranged at the top of the mounting part 31, a winding part 32 rotatably mounted in the supporting frame and used for winding the traction part 1, and a driving unit 33 connected with the winding part 32.

This embodiment is in the time of practical application, is convenient for drive the removal of tractive spare 1 through setting up drive assembly 3, utilizes installed part 31 to fix and is convenient for and the robot cooperation in the robot main part to adapt to different installation space, the winding 32 that utilizes the rotation installation is convenient for carry out the rolling to tractive spare 1, thereby utilizes drive unit 33 to drive winding 32 and removes, carries out axial motion with the drive center pin.

Further, the driving unit 33 includes: rotate install in rotate piece 331, fixed cover on the inside both sides wall of carriage are located the first connecting piece 332, the rotation of rotating piece 331 install in the carriage bottom and with the second connecting piece 333 that first connecting piece 332 links to each other and with the rotating member 334 at carriage top that second connecting piece 333 links to each other and is located, winding 32 is fixed to be overlapped and is located rotate the piece 331 outside.

Furthermore, reinforcing ribs are fixedly arranged on two sides of the top of the mounting member 31, a plurality of mounting holes are formed in the mounting member 31, and an outer cover fixed in the supporting frame is arranged on the outer side of the first connecting member 332.

It can be known, be convenient for stimulate and rolling the tractive spare 1 through setting up drive unit 33, utilize swivel 334 to drive second connecting piece 333 and rotate, then drive first connecting piece 332 and rotate, and then drive and rotate piece 331 and winding piece 32 and rotate pulling and rolling work in order to carry out tractive spare 1, guarantee still can carry out the dismouting work of center pin inside various operating mode spaces, strengthen the stability that the root is convenient for promote mounting 223 through the installation at installed part 31 top, it can with external isolated to utilize the rotation of first connecting piece 332 of cover assurance, avoid external environment to the influence of device, the reliability of device has been promoted.

For example, the mounting member 31 may be a mounting plate or a fixing plate, and the top of the mounting member is provided with a plurality of mounting holes to ensure that the mounting member can be fixedly mounted on the robot body, the rotating member 331 may be a rotating wheel or a rotating cylinder, and the first connecting member 332 and the second connecting member 333 may be a first gear and a second gear, or a worm gear and a worm; the rotating member 334 may be a shaking handle or a micro motor, as long as it can drive the second connecting member 333 to rotate, which is not specifically limited herein.

It should be noted that the driving assembly 3 may be other winding devices besides the structure of the device, as long as it can wind and pull the pulling member 1, and the embodiment is not limited in particular.

Example 3

As shown in fig. 1 and 4, on the basis of embodiments 1 and 2, the guide assembly 4 includes: the mechanical arm comprises two semi-ring pieces 41 which are oppositely arranged and can be sleeved on the mechanical arm, a guide piece 42 which is rotatably installed on one side of each semi-ring piece 41, an anti-falling piece 43 which is fixedly installed outside each semi-ring piece 41 and is located on one side of each guide piece 42, and fixing openings which are connected to two ends of each semi-ring piece 41.

Specifically speaking, be convenient for lead and spacing to tractive spare 1 through setting up guide assembly 4, thereby guarantee that tractive spare 1 can remove along predetermined direction, and then guarantee that the center pin can remove along predetermined axial, in order to carry out dismouting work, be convenient for install and fix with the outside arm of center pin through setting up half ring piece 41, and carry out axial spacing to it through guide 42, be convenient for tractive spare 1 can laminate with guide 42 always through setting up anticreep piece 43, be convenient for connect and fix the tip of two half ring pieces 41 through setting up the fixed orifices, and then can laminate two half ring pieces 41 and install in the arm outside, and then realize that it is fixed.

Furthermore, a plurality of anti-slip members 44 which can be attached to the outer surface of the mechanical arm are fixedly mounted on the inner side of the half ring member 41.

It can be known that the position of meeting of half ring 41 and arm is convenient for fill through setting up antiskid 44 to increase the frictional force of laminating department, be convenient for further increase guarantee two half ring 41 can fix on the lateral surface of arm, and then conveniently carry out the direction that draws a 1.

For example, the half ring 41 may be an arc-shaped frame; the guide member 42 may be a wire guide wheel, the anti-slip member 43 may be a wire anti-slip device fixed outside the half-ring member 41, the fixing holes may be fixed to screw holes at two ends of the half-ring member 41, and the two half-ring members 41 are fixed by connecting bolts, the anti-slip member 44 may be an anti-slip pad or a friction plate fixed inside the half-ring member 41, as long as friction force can be increased, and this embodiment is not limited specifically herein.

The utility model provides an in the above-mentioned embodiment, central hand dismouting device of robot is provided, be convenient for and treat the center pin of dismouting to connect and fix through setting up fixed subassembly 2, thereby it carries out the rolling to drive tractive spare 1 under drive assembly 3's effect, and then utilize tractive spare 1 to drive the center pin through fixed subassembly 2 and remove, be convenient for can be with its fixed mounting on the arm that links to each other with the center pin before the dismouting through setting up direction subassembly 4, thereby conveniently realize center pin axial displacement's direction, and then can utilize drive assembly 3 to assist the dismantlement and the installation work that carries out the center pin, it removes the different operational environment of adaptation of being convenient for to drive the center pin through setting up tractive spare 1, even still can assist the dismantlement work of carrying out the center pin in narrow and small space, the influence of line body station operation space to center pin dismouting work has been avoided, and drive the center pin through drive assembly 3 and remove, the operation flow is simplified, can satisfy the change operation demand, it is convenient and reliable more to use.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a central hand dismouting device of robot which characterized in that includes: can with wait that the fixed subassembly (2) that link to each other of dismouting center pin, through tractive spare (1) with drive assembly (3) that fixed subassembly (2) link to each other and can fix the cover and locate on the arm that links to each other with the center pin and be used for carrying on guiding subassembly (4) that tractive spare (1) led, drive assembly (3) are fixed or independently install in the robot.

2. A robot-centric hand attachment/detachment device according to claim 1, characterized in that the fixation assembly (2) comprises: can with retaining member (21) that center pin terminal surface preformed hole screw thread meets, with retaining member (21) threaded connection's switching unit (22) and connect in switching unit (22) and with retaining member (21) parallel arrangement's adjusting part (23), adjusting part (23) meet with the one end that drive assembly (3) were kept away from in tractive piece (1).

3. The robot central hand dismounting device according to claim 2, wherein the locking member (21) comprises an annular portion (211), a straight rod portion (212), a protruding portion (213) and a locking thread portion (214) which are connected in sequence, the switching unit (22) is in thread connection with the locking thread portion (214).

4. The central hand dismounting device of a robot according to claim 3, wherein said transfer unit (22) comprises a transfer member (221) having one end screwed with said locking screw portion (214), a ring member (222) sleeved on said straight rod portion (212), and a fixing member (223) abutting against one side of said ring member (222) and penetrating into said transfer member (221), and the other end of said transfer member (221) is screwed to said adjusting member (23).

5. The central hand dismounting device of robot according to claim 2, wherein the adjusting member (23) comprises a fixing portion (231) having an opening at one side and an adjusting screw portion (232) fixedly installed at the other side of the fixing portion (231) and having a hollow interior, the pulling member (1) is slidably inserted into the adjusting screw portion (232) and one end of the pulling member, which is far away from the driving component (3), penetrates through the fixing portion (231) and is installed with a limiting member (233) capable of abutting against the end surface of the fixing portion (231), and a washer is installed inside the fixing portion (231).

6. A robot-centric hand attachment/detachment device according to claim 1, characterized in that the drive assembly (3) comprises: the winding device comprises a mounting part (31) fixedly mounted on a robot body, a supporting frame fixedly arranged at the top of the mounting part (31), a winding part (32) rotatably mounted in the supporting frame and used for winding the traction part (1), and a driving unit (33) connected with the winding part (32).

7. A robot centric hand attachment/detachment device according to claim 6, characterized in that the driving unit (33) comprises: rotate install in rotate piece (331), fixed cover on the inside both sides wall of carriage are located rotate first connecting piece (332) of piece (331), rotate install in carriage bottom and with second connecting piece (333) that first connecting piece (332) link to each other and with rotating member (334) that second connecting piece (333) link to each other and are located the carriage top, winding (32) fixed cover is located rotate the piece (331) outside.

8. The robot center hand dismounting device according to claim 7, wherein reinforcing roots are fixedly arranged on two sides of the top of the mounting member (31), a plurality of mounting holes are formed in the mounting member (31), and an outer cover fixed in the support frame is arranged on the outer side of the first connecting member (332).

9. A robot centering hand dismounting device according to any of claims 1-8, characterized in that said guiding assembly (4) comprises: the anti-falling device comprises two semi-ring pieces (41) which are oppositely arranged and can be sleeved on the mechanical arm, a guide piece (42) which is rotatably installed on one side of each semi-ring piece (41), an anti-falling piece (43) which is fixedly arranged outside each semi-ring piece (41) and is positioned on one side of each guide piece (42), and fixing openings which are connected to two ends of each semi-ring piece (41).

10. A robot central hand dismounting device according to claim 9, characterized in that said half-ring (41) is fixed with several skidproof means (44) on its inner side, which can be applied to the outer surface of the robot arm.

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