CN218169372U - Speed reducer aligning device and automatic assembly equipment for industrial robot joint - Google Patents
Speed reducer aligning device and automatic assembly equipment for industrial robot joint Download PDFInfo
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- CN218169372U CN218169372U CN202221577600.0U CN202221577600U CN218169372U CN 218169372 U CN218169372 U CN 218169372U CN 202221577600 U CN202221577600 U CN 202221577600U CN 218169372 U CN218169372 U CN 218169372U
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Abstract
The utility model discloses a speed reducer aligning device of an industrial robot joint and automatic assembly equipment, wherein the speed reducer aligning device comprises a feeding mechanism, a rotary aligning mechanism, a first visual positioning mechanism and a manipulator; the feeding mechanism comprises a positioning jig and a positioning column arranged on the positioning jig, the positioning jig is used for placing a speed reducer to be assembled, and when the speed reducer is placed on the positioning jig, the positioning column is inserted into the first mounting hole so as to obtain the position information of the first mounting hole according to the positioning jig and the positioning column; the first visual positioning mechanism is arranged on the manipulator and used for acquiring the position information of the second mounting hole; the manipulator is used for transferring the speed reducer on the positioning jig to the rotary alignment mechanism; the rotary alignment mechanism is used for rotating the fixed seat or the flange plate to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole. The utility model discloses can realize the automatic alignment of speed reducer, improve the packaging efficiency.
Description
Technical Field
The utility model relates to an industrial robot field, in particular to articulated speed reducer aligning device of industrial robot and automatic assembly equipment.
Background
The joints are key parts in the industrial robot, generally, one joint at least comprises a shell and a speed reducer, and the speed reducer comprises a fixed seat and a flange plate. In the manufacturing process of the joint, the fixed seat and the flange plate need to be connected manually, and the speed reducer is connected with the shell. The speed reducer is connected with the shell in the prior art, mounting holes are respectively formed in the speed reducer and the shell, the speed reducer and the shell are aligned according to the mounting holes through manual work, and screws are screwed into the two mounting holes to be locked and fixed.
However, in the mode, the flange plate of the speed reducer and the fixed seat are aligned and assembled manually, so that the assembling efficiency is low, and the time consumption is long.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides an industrial robot joint's speed reducer aligning device, aims at solving the technical problem that current robot joint packaging efficiency is low.
In order to achieve the purpose, the utility model provides a speed reducer aligning device for an industrial robot joint, wherein the speed reducer comprises a fixed seat and a flange plate, a plurality of first mounting holes are formed in the fixed seat, and a plurality of second mounting holes are formed in the flange plate;
the feeding mechanism comprises a positioning jig and a positioning column arranged on the positioning jig, the positioning jig is used for placing a speed reducer to be assembled, and when the speed reducer is placed on the positioning jig, the positioning column is inserted into the first mounting hole so as to obtain the position information of the first mounting hole according to the positioning jig and the positioning column;
the first visual positioning mechanism is arranged on the manipulator and used for acquiring the position information of the second mounting hole;
the manipulator is used for transferring the speed reducer on the positioning jig to the rotary alignment mechanism;
the rotary alignment mechanism is used for rotating the fixed seat or the flange plate to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole.
In some embodiments, the rotary alignment mechanism includes an installation frame, a driving member disposed on the installation frame, and a bearing seat connected to an output execution end of the driving member, wherein the bearing seat is used for placing the speed reducer, and the driving member is used for driving the bearing seat to rotate.
In some embodiments, the speed reducer further includes an input shaft, an output shaft, and a rotor, the input shaft is disposed in the hollow space and connected to the fixing base, the output shaft is sleeved on the inner side of the input shaft and connected to the flange, and the rotor is sleeved on the outer side of the input shaft;
the bearing seat is provided with a through hole, when the speed reducer is placed on the bearing seat, the output shaft of the speed reducer penetrates through the through hole, the rotor of the speed reducer abuts against the top surface of the bearing seat, so that the driving piece drives the fixing seat of the speed reducer to rotate, and the flange plate of the speed reducer is fixed through the manipulator.
In some embodiments, the bearing seat includes a first bearing member and a second bearing member which are arranged at an interval from top to bottom, and the through hole is opened in the middle of the first bearing member; the first bearing piece and the second bearing piece are provided with a plurality of guide pillars between, each guide pillar is sleeved with a telescopic spring, the second bearing piece is fixedly connected with the guide pillars, and the first bearing piece is sleeved on the guide pillars in a sliding manner.
In some embodiments, the speed reducer aligning device of the industrial robot further includes a second visual positioning mechanism, the second visual positioning mechanism is located on one side of the rotary aligning mechanism, and the manipulator transfers the aligned speed reducer to the position above the second visual positioning mechanism to obtain the position information of the first mounting holes.
In some embodiments, the feeding mechanism further includes two carrying platforms, each carrying platform is provided with a plurality of positioning jigs, and the manipulator and the rotary alignment mechanism are located between the two carrying platforms.
In some embodiments, a driving mechanism is disposed below each of the carrying platforms, and the driving mechanism is configured to drive the carrying platforms to move in a direction approaching to or moving away from the speed reducer assembling station.
In some embodiments, the driving mechanism includes an air cylinder, two linear guide rails disposed at an interval, and two sliding blocks respectively slidably engaged with the two linear guide rails, the two sliding blocks are mounted at the bottom of the bearing platform, and a piston rod of the air cylinder is connected with the bearing platform to drive the bearing platform to move along the linear guide rails.
In some embodiments, the robot comprises a robot arm and a jaw assembly disposed at an end of the robot arm.
The utility model discloses further provide an industrial robot joint's automatic assembly equipment, this industrial robot joint's automatic assembly equipment includes the speed reducer aligning device of aforementioned record.
The utility model provides an among the technical scheme, treat that the speed reducer of equipment places on feeding mechanism, during the equipment, transfers the speed reducer on the feeding mechanism to rotatory counterpoint mechanism through the manipulator earlier, treats the speed reducer counterpoint and accomplishes the back, and the rethread manipulator transfers the speed reducer to speed reducer equipment station from rotatory counterpoint mechanism, realizes the automatic counterpoint to the speed reducer, is favorable to improving the joint packaging efficiency of robot.
Drawings
Fig. 1 is a schematic structural diagram of a speed reducer aligning device for an industrial robot joint according to an embodiment of the present invention;
fig. 2 is an exploded view of a joint housing and a speed reducer of a joint of an industrial robot;
FIG. 3 is a schematic structural view of the rotary alignment mechanism and the speed reducer in FIG. 1;
FIG. 4 is a cross-sectional view of the rotational alignment mechanism and the reducer of FIG. 3;
FIG. 5 is a schematic view of the rotary alignment mechanism of FIG. 1;
fig. 6 is a schematic structural diagram of the robot and the first visual positioning mechanism in fig. 1.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
In the following, the embodiments of the present invention will be described in detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a speed reducer aligning device of an industrial robot joint according to an embodiment of the present invention, and fig. 2 is an exploded view of a joint housing and a speed reducer of an industrial robot joint.
The speed reducer comprises a fixed seat and a flange plate, wherein a plurality of first mounting holes are formed in the fixed seat, a plurality of second mounting holes are formed in the flange plate, and a plurality of third mounting holes are formed in the joint shell. The assembly process of the joint housing and the speed reducer will now be explained: during the equipment, make first mounting hole and second mounting hole correspond earlier, pack the speed reducer into joint shell again, rotate the speed reducer again for first mounting hole corresponds with the third mounting hole on the shell, then place first mounting hole department after passing the second mounting hole with the screw, reuse screwdriver turns round the screw, and the screw hair cooperation fixed connection with the third mounting hole after making the screw pass first mounting hole, so as to lock speed reducer and joint shell, thereby accomplish the equipment of robot joint.
In some embodiments, the utility model provides a speed reducer aligning device for an industrial robot joint, which comprises a feeding mechanism 10, a rotary aligning mechanism 20, a first visual positioning mechanism 30 and a manipulator 40;
the feeding mechanism 10 includes a positioning fixture 11 and a positioning column (not shown) disposed on the positioning fixture 11, the positioning fixture 11 is used for placing the speed reducer 200 to be assembled, when the speed reducer 200 is placed on the positioning fixture 11, the positioning column is inserted into the first mounting hole 203, so as to obtain the position information of the first mounting hole 203 according to the positioning fixture 11 and the positioning column;
the first visual positioning mechanism 30 is arranged on the manipulator 40 and used for acquiring the position information of the second mounting hole 204;
the manipulator 40 is used for transferring the speed reducer 200 on the positioning jig 11 to the rotary alignment mechanism 20;
the rotary alignment mechanism 20 is configured to rotate the fixing base 201 or the flange 202 to a corresponding angle according to the position information of the first mounting hole 203 and the position information of the second mounting hole 204, so that the first mounting hole 203 corresponds to the second mounting hole 204.
In this embodiment, the robot joint includes joint housing 100 and speed reducer 200, and speed reducer 200 includes fixing base 201 and flange 202, has seted up a plurality of first mounting holes 203 on the fixing base 201, has seted up a plurality of second mounting holes 204 on the flange 202, has seted up a plurality of third mounting holes 101 on joint housing 100, passes through the cooperation of fastener and first mounting hole 203 and third mounting hole 101 between fixing base 201 of speed reducer 200 and the joint housing 100 and is connected, for example threaded connection.
Specifically, the fastener is a screw, the first mounting hole 203 is a through hole, the second mounting hole 204 is a threaded hole or a through hole, the third mounting hole 101 is a threaded hole, and the joint housing 100 and the speed reducer 200 are fixed by the screw and the threaded connection of the third mounting hole 101. Wherein, the through hole is internally provided with no thread, and the threaded hole is internally provided with a thread.
During assembly, due to the fact that the distance between the fixed seat 201 and the flange 202 is small, screws are difficult to place in the first mounting hole 203 and the third mounting hole 101 from the space between the fixed seat 201 and the flange 202. Therefore, screws need to be placed in the first mounting hole 203 and the third mounting hole 101 from one end of the flange 202 far away from the fixing base 201, specifically, the screws pass through the second mounting hole 204 arranged on the flange 202, and then the screws correspondingly drop into the first mounting hole 203 and the third mounting hole 101.
It should be noted that the second mounting hole 204 mainly functions as a clearance in the present embodiment, so that the screw can pass through the second mounting hole 204 and fall into the corresponding first mounting hole 203 and the third mounting hole 101. The second mounting hole 204 may or may not be provided with a thread, and it is only necessary to ensure that the aperture of the second mounting hole 204 is larger than the aperture of the screw.
When the joint housing 100 and the reduction gear 200 are assembled, since the gap between the fixed base 201 and the flange 202 is small, interference occurs when the fastener is directly inserted from the first mounting hole 203, and therefore, the fastener needs to be inserted from the second mounting hole 204. That is, after the fastener passes through the second mounting hole 204, the fastener drops into the first mounting hole 203 and the third mounting hole 101, and then the fixing base 201 of the speed reducer 200 is fixed to the joint housing 100 by the fastener.
To ensure that the fastener can pass through the second mounting hole 204 and then fall into the first mounting hole 203, the first mounting hole 203 needs to be aligned with the hole of the second mounting hole 204 before the fastener is assembled. Specifically, the speed reducer alignment device provided in this embodiment includes the rotary alignment mechanism 20, and the fixed base 201 or the flange 202 of the speed reducer 200 is driven to rotate by the rotary alignment mechanism 20, so that the first mounting hole 203 on the fixed base 201 corresponds to the second mounting hole 204 on the flange 202.
When the joint housing 100 and the speed reducer 200 are assembled, since the speed reducer 200 is inserted and positioned by the positioning posts on the positioning jig 11 when the speed reducer 200 is placed on the positioning jig 11, the position information of the first mounting hole 203 on the fixing base 201 is known. Then, the manipulator 40 picks up the speed reducer 200 from the positioning jig 11 and transfers it to the rotary aligning mechanism 20, and when the speed reducer 200 is picked up or after the speed reducer 200 is transferred to the rotary aligning mechanism 20, the first visual positioning mechanism 30 provided on the manipulator 40 acquires the position information of the second mounting hole 204 on the flange plate 202. Under the condition that the position information of the first mounting hole 203 and the second mounting hole 204 is known, the rotation angle of the rotary alignment mechanism 20 can be determined according to the position information of the first mounting hole 203 and the second mounting hole 204, for example, if the deviation angle between the circle centers of the first mounting hole 203 and the second mounting hole 204 is different by 15 °, the rotary alignment mechanism 20 can be controlled to drive the fixed base 201 or the flange 202 to rotate by 15 °, so that the first mounting hole 203 corresponds to the second mounting hole 204. After the alignment is completed, the manipulator 40 transfers the speed reducer to the speed reducer assembling station, so that the automatic feeding and alignment of the speed reducer 200 are realized, and the assembling efficiency of the joints of the industrial robot is improved.
The manipulator 40 may adopt a structural form of a multi-axis linear module + a material taking assembly (a suction nozzle or a clamping jaw, etc.), or may also adopt a structural form of a mechanical arm + a material taking assembly (a suction nozzle or a clamping jaw, etc.), including but not limited thereto, and those skilled in the art can design the manipulator according to actual situations.
Referring to fig. 3-5, fig. 3 is a schematic structural view of the rotational alignment mechanism and the speed reducer in fig. 1, fig. 4 is a sectional view of the rotational alignment mechanism and the speed reducer in fig. 3, and fig. 5 is a schematic structural view of the rotational alignment mechanism in fig. 1.
In some embodiments, the present invention provides a rotation alignment mechanism 20, which includes a mounting frame 21, a driving member 22 disposed on the mounting frame 21, and a bearing seat 23 connected to an output execution end of the driving member 22, wherein the bearing seat 23 is used for placing the speed reducer 200, and the driving member 22 is used for driving the bearing seat 23 to rotate.
In this embodiment, the bearing seat 23 can be driven by the driving member 22 to rotate, so as to drive the fixing seat 201 or the flange 202 of the speed reducer 200 placed on the bearing seat 23 to rotate. One of the fixing base 201 and the flange 202 of the speed reducer 200 can rotate under the driving of the driving element 22, and the other one is fixed, and during the alignment, the rotary alignment mechanism 20 drives the fixing base 201 or the flange 202 to rotate by a preset angle, so that the first mounting hole 203 corresponds to the second mounting hole 204.
In some embodiments, please refer to fig. 3-5, the speed reducer 200 of the present invention further includes an input shaft 205, an output shaft 206 and a rotor 207, wherein the input shaft 205 is hollow and rotatably connected to the fixing base 201, the output shaft 206 is sleeved on the inner side of the input shaft 205 and connected to the flange 202, and the rotor 207 is sleeved on the outer side of the input shaft 205 and fixedly connected thereto; bear and to have the through-hole 24 on the seat 23, when speed reducer 200 places on bearing the seat 23, the output shaft 206 of speed reducer 200 passes through-hole 24, and the rotor 207 of speed reducer 200 butts in the top surface that bears the seat 23 for driving the fixing base 201 of speed reducer 200 of driving piece 22 drive rotates, and the ring flange 202 of speed reducer 200 passes through manipulator 40 fixedly.
In this embodiment, the reducer 200 automatically aligns the first mounting hole 203 and the second mounting hole 204 by the cooperation of the rotary aligning mechanism 20 and the robot 40. Specifically, the bearing seat 23 is provided with a through hole 24, the aperture of the through hole 24 is larger than the aperture of the input shaft 205 and smaller than the aperture of the rotor 207, when the speed reducer 200 is placed on the bearing seat 23, the output shaft 206 of the speed reducer 200 passes through the through hole 24, the rotor 207 of the speed reducer 200 abuts against the top surface of the bearing seat 23, and the manipulator 40 fixes the flange 202 of the speed reducer 200 and presses the speed reducer 200, so that the rotor 207, the input shaft 205, the fixing seat 201 of the speed reducer 200 and the bearing seat 23 are kept relatively fixed. Thus, when the driving member 22 drives the bearing seat 23 to rotate, the rotor 207, the input shaft 205 and the fixing seat 201 of the speed reducer 200 rotate along with the bearing seat 23, and the flange 202 of the speed reducer 200 is fixed by the manipulator 40, so that the fixing seat 201 of the speed reducer 200 can rotate relative to the flange 202, and after the first mounting hole 203 is aligned with the second mounting hole 204, the driving member 22 stops driving the bearing seat 23 to rotate, thereby completing the automatic alignment of the speed reducer 200.
In some embodiments, the driving member 22 is a motor, the motor is disposed along a vertical direction, and an output shaft of the motor is connected to the bottom of the carrying seat 23 through a coupling, so as to drive the carrying seat 23 to rotate through the motor.
In some embodiments, referring to fig. 3-5, the bearing seat 23 of the present invention includes a first bearing member 231 and a second bearing member 232 disposed at an interval from top to bottom, and the through hole 24 is disposed in the middle of the first bearing member 231; a plurality of guide posts 25 are arranged between the first bearing part 231 and the second bearing part 232, each guide post 25 is sleeved with a telescopic spring, the second bearing part 232 is fixedly connected with the plurality of guide posts 25, and the second bearing part 232 is slidably sleeved on the plurality of guide posts 25.
In this embodiment, the carrying seat 23 includes a first carrying member 231 and a second carrying member 232 disposed at an interval from top to bottom, a plurality of guide pillars 25 are disposed between the first carrying member 231 and the second carrying member 232, and the plurality of guide pillars 25 are distributed around the centers of the first carrying member 231 and the second carrying member 232. One end of each guide post 25 is fixedly connected to the second bearing member 232, the other end is slidably connected to the first bearing member 231, the through hole 24 is formed in the first bearing member 231, and the first bearing member 231 can move up and down along the guide post 25. In order to prevent the rotor 207 of the speed reducer 200 from being subjected to a large pressure, an extension spring is sleeved on each guide post 25, one end of the extension spring abuts against the first bearing piece 231, and the other end of the extension spring abuts against the second bearing piece 232.
In some embodiments, please refer to fig. 1, the speed reducer aligning device for a robot joint further includes a second visual positioning mechanism 50, the second visual positioning mechanism 50 is located at one side of the rotating aligning mechanism 20, and the manipulator 40 transfers the aligned speed reducer 200 to the top of the second visual positioning mechanism 50 to obtain the position information of the plurality of first mounting holes 203.
In this embodiment, after the speed reducer 200 is rotationally aligned, the position of the first mounting hole 203 may be changed, and in order to ensure the accuracy of the position of the first mounting hole 203, the second visual positioning mechanism 50 acquires the position information of the first mounting hole 203 again, so as to ensure that the first mounting hole 203 corresponds to the third mounting hole 101 when the speed reducer 200 is assembled with the joint housing 100. When the joint housing 100 is assembled with the speed reducer 200, the aligned speed reducer 200 is transferred to the assembly station of the speed reducer 200 by the manipulator 40, the position of the third mounting hole 101 on the joint housing 100 is acquired by the first visual positioning mechanism 30 arranged on the manipulator 40, the first mounting hole 203 is aligned with the third mounting hole 101, and finally the speed reducer 200 is installed in the joint housing 100.
In some embodiments, please refer to fig. 1, the feeding mechanism 10 of the present invention further includes two supporting platforms 12, each supporting platform 12 is provided with a plurality of positioning jigs 11, and the rotary aligning mechanism 20 and the robot 40 are located between the two supporting platforms 12.
In this embodiment, through two load-bearing platform 12 that set up, can realize the incessant material loading to speed reducer 200 to further improve industrial robot joint's packaging efficiency. Before the speed reducer 200 material loading, will wait that the speed reducer 200 of assembling is placed on two load-bearing platforms 12 earlier, wait to all place speed reducer 200 back on two load-bearing platforms 12, the material loading of beginning speed reducer 200 again. When the speed reducer 200 is loaded, the manipulator 40 is controlled to firstly take the speed reducer 200 of one of the bearing platforms 12, and then the speed reducer 200 is taken from the other bearing platform 12, when the manipulator 40 takes the speed reducer 200 from the other bearing platform 12, the bearing platform 12 which has taken the speed reducer 200 is controlled to move towards one side away from the speed reducer assembling station, so that a worker can supplement the speed reducer 200 to be assembled for the bearing platform 12 which has taken the speed reducer 200, until the bearing platform 12 is filled with the speed reducer 200, after the speed reducer on the other bearing platform 12 is taken, the bearing platform which is filled with the speed reducer 200 is controlled to move towards one side away from the speed reducer assembling station, meanwhile, the bearing platform which is filled with the speed reducer 200 is controlled to move towards one side close to the speed reducer assembling station, the operation is repeated in such a circulating way, thereby realizing the non-stop loading of the speed reducer 200, and improving the assembling efficiency of the robot joint.
In some embodiments, please refer to fig. 1, a driving mechanism 13 is disposed below each of the supporting platforms 12, and the driving mechanism 13 is used for driving the supporting platform 12 to move along a direction close to or away from the speed reducer assembling station.
In this embodiment, in order to further improve the assembly efficiency of the joint of the industrial robot, after the speed reducer 200 is placed on the bearing platform 12, the driving mechanism 13 drives the bearing platform 12 to move toward the direction close to the speed reducer assembly station, so that the speed reducer 200 is located at the position close to the speed reducer 200 assembly station, the time for the manipulator 40 to transfer the speed reducer 200 is shortened, and the purpose of improving the assembly efficiency of the joint of the robot is achieved.
In some embodiments, the driving mechanism 13 includes an air cylinder, two linear guide rails disposed at an interval, and a slider slidably engaged with the two linear guide rails, the slider is mounted at the bottom of the bearing platform 12, and a piston rod of the air cylinder is connected with the bearing platform 12 to drive the bearing platform 12 to move along the two linear guide rails. Wherein, the cylinder can adopt motor and lead screw to replace, and the technical personnel in the art can design according to actual conditions.
In some embodiments, referring to fig. 6, the robot 40 of the present invention includes a robot arm 41 and a gripper assembly 42, wherein the gripper assembly 42 is disposed at the end of the robot arm 41.
In the present embodiment, the mechanical arm 41 has multiple degrees of freedom, such as four axes, five axes, or six axes, and the like, and those skilled in the art can design the mechanical arm according to actual situations. The end of the mechanical arm 41 is provided with a clamping jaw assembly 42, the mechanical arm 41 is used for driving the mechanical arm to move towards or away from the speed reducer 200, and after the clamping jaw assembly 42 moves to a preset position, the clamping jaw assembly 42 is driven to clamp or release the speed reducer 200 in a pneumatic or electric mode.
The utility model discloses a further articulated automatic assembly equipment of industrial robot includes the speed reducer aligning device that aforementioned each embodiment recorded, and this speed reducer aligning device's concrete structure refers to above-mentioned embodiment, because this articulated automatic assembly equipment of industrial robot has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effect that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary details one by one here.
The above is only the part or the preferred embodiment of the present invention, no matter the characters or the drawings can not limit the protection scope of the present invention, all under the whole concept of the present invention, the equivalent structure transformation made by the contents of the description and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the protection scope of the present invention.
Claims (10)
1. A speed reducer aligning device for an industrial robot joint is characterized in that the speed reducer aligning device comprises a feeding mechanism, a rotary aligning mechanism, a first visual positioning mechanism and a mechanical arm;
the feeding mechanism comprises a positioning jig and a positioning column arranged on the positioning jig, the positioning jig is used for placing a speed reducer to be assembled, and when the speed reducer is placed on the positioning jig, the positioning column is inserted into the first mounting hole so as to obtain the position information of the first mounting hole according to the positioning jig and the positioning column;
the first visual positioning mechanism is arranged on the manipulator and used for acquiring the position information of the second mounting hole;
the manipulator is used for transferring the speed reducer on the positioning jig to the rotary alignment mechanism;
the rotary alignment mechanism is used for rotating the fixed seat or the flange plate to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole.
2. The speed reducer aligning device for the joint of the industrial robot according to claim 1, wherein the rotary aligning mechanism comprises an installation frame, a driving member disposed on the installation frame, and a carrying seat connected to an output execution end of the driving member, the carrying seat is used for placing the speed reducer, and the driving member is used for driving the carrying seat to rotate.
3. The aligning apparatus for the speed reducer of the industrial robot joint according to claim 2, wherein the speed reducer further comprises an input shaft, an output shaft and a rotor, the input shaft is hollow and connected to the fixing base, the output shaft is sleeved on the inner side of the input shaft and connected to the flange, and the rotor is sleeved on the outer side of the input shaft;
the bearing seat is provided with a through hole, when the speed reducer is placed on the bearing seat, the output shaft of the speed reducer penetrates through the through hole, the rotor of the speed reducer abuts against the top surface of the bearing seat, so that the driving piece drives the fixing seat of the speed reducer to rotate, and the flange plate of the speed reducer is fixed through the manipulator.
4. The speed reducer aligning device for the joint of the industrial robot according to claim 3, wherein the bearing seat comprises a first bearing member and a second bearing member which are arranged at an interval from top to bottom, and the through hole is formed in the middle of the first bearing member; the first bearing piece and the second bearing piece are provided with a plurality of guide pillars between, each guide pillar is sleeved with a telescopic spring, the second bearing piece is fixedly connected with the guide pillars, and the first bearing piece is sleeved on the guide pillars in a sliding manner.
5. The speed reducer aligning device for the joints of the industrial robot according to any one of claims 1 to 4, further comprising a second visual positioning mechanism located on one side of the rotary aligning mechanism, wherein the robot arm transfers the aligned speed reducer to a position above the second visual positioning mechanism to obtain the position information of the plurality of first mounting holes.
6. The speed reducer aligning device for the joints of the industrial robot according to claim 1, wherein the feeding mechanism further comprises two bearing platforms, each bearing platform is provided with a plurality of positioning jigs, and the manipulator and the rotary aligning mechanism are located between the two bearing platforms.
7. The speed reducer aligning device for the industrial robot joint according to claim 6, wherein a driving mechanism is disposed below each of the supporting platforms, and the driving mechanism is configured to drive the supporting platforms to move in a direction approaching or moving away from the speed reducer assembling station.
8. The speed reducer aligning device for the industrial robot joint according to claim 7, wherein the driving mechanism comprises an air cylinder, two linear guide rails disposed at an interval, and two sliding blocks slidably engaged with the two linear guide rails, the two sliding blocks are mounted at the bottom of the bearing platform, and a piston rod of the air cylinder is connected to the bearing platform to drive the bearing platform to move along the linear guide rails.
9. The speed reducer aligning device for the joint of the industrial robot according to claim 1, wherein the robot arm includes a robot arm and a jaw assembly provided at a distal end of the robot arm.
10. An automatic assembling apparatus for joints of an industrial robot, characterized by comprising the speed reducer aligning device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221577600.0U CN218169372U (en) | 2022-06-22 | 2022-06-22 | Speed reducer aligning device and automatic assembly equipment for industrial robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221577600.0U CN218169372U (en) | 2022-06-22 | 2022-06-22 | Speed reducer aligning device and automatic assembly equipment for industrial robot joint |
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| Publication Number | Publication Date |
|---|---|
| CN218169372U true CN218169372U (en) | 2022-12-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221577600.0U Active CN218169372U (en) | 2022-06-22 | 2022-06-22 | Speed reducer aligning device and automatic assembly equipment for industrial robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218169372U (en) |
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2022
- 2022-06-22 CN CN202221577600.0U patent/CN218169372U/en active Active
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