CN218284419U - Clamping device - Google Patents

Abstract

The utility model relates to a clamping device for clamping robot joint, robot joint include harmonic speed reducer ware and joint shell. The clamping device comprises a driving assembly, a mounting assembly and a detection assembly. The mounting assembly is fixedly connected with the driving assembly and is used for being detachably connected with a flexible gear of the harmonic reducer; when the driving assembly rotates around the rotation axis of the driving assembly, the installation assembly can drive the flexible gear to rotate; the detection assembly comprises a sensor and a display panel which are electrically connected with each other; the sensor is connected with the power output end of the driving assembly; when drive assembly rotated around its self axis of rotation, the sensor can real-time detection drive assembly's output torque, and display panel is used for showing the numerical value of the output torque that the sensor detected. When the harmonic reducer is assembled with a joint shell, the flexible gear and the rigid gear can be centered, the effect of meshing transmission of the whole robot joint is better finally, and the working precision of the robot is higher.

Description

Clamping device

Technical Field

The utility model relates to a clamping technical field especially relates to clamping device.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, can assist or even replace human beings to complete dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the range of activities and capabilities of the human beings. At present, robots have been widely used in various industrial fields. The joint structure of the robot is used as a core component of the robot, and the performance of the joint structure is important in the whole motion process of the robot. When assembling the robot joint, the harmonic reducer of the robot joint needs to be assembled to the joint shell, however, in the assembling process, the harmonic reducer and the installation axis of the joint shell are prone to large deviation, so that the meshing transmission effect of the whole robot joint is poor, and the working precision of the robot is finally influenced.

SUMMERY OF THE UTILITY MODEL

Therefore, the clamping device is needed to solve the problems that the installation axis of the harmonic reducer and the joint shell in the robot joint is prone to large deviation, the meshing transmission effect of the robot joint is poor, and the working precision of the robot is low.

A clamping device for clamping a robot joint, the robot joint comprising a harmonic reducer and a joint housing, comprising:

a drive assembly;

the mounting assembly is fixedly connected with the driving assembly and is used for being detachably connected with a flexible gear of the harmonic reducer; the drive assembly and the mounting assembly are configured to rotate the flexspline via the mounting assembly when the drive assembly rotates about its own axis of rotation;

a detection assembly including a sensor and a display panel electrically connected to each other; the sensor is connected with the power output end of the driving assembly; when drive assembly rotated around its self axis of rotation, the sensor can real-time detection drive assembly's output torque, display panel is used for with the sensor detects the numerical value of output torque shows.

In one embodiment, the clamping device further comprises a pulse generator electrically connected with the driving assembly, and the pulse generator is used for adjusting the rotating speed of the driving assembly.

In one embodiment, the display panel displays the value of the output torque in a signal waveform manner.

In one embodiment, the mounting assembly comprises a power chuck and an engagement plate connected to each other; the power chuck is fixedly connected with the driving assembly, and the connecting plate is detachably connected with the flexible wheel;

one of the power chuck and the connector tile is configured with a mounting lug and the other is configured with a mounting recess, the mounting lug cooperating with the mounting recess when the connector tile is mounted to the power chuck.

In one embodiment, the clamping device further comprises a mounting plate, and the driving assembly and the detecting assembly are mounted on the mounting plate;

the clamping device further comprises a mounting seat, the mounting seat is mounted on the mounting plate, a mounting cavity is formed in the mounting seat, and the mounting cavity is provided with an opening;

when the flexible gear of the harmonic reducer is installed on the installation assembly, the joint shell is accommodated in the installation cavity and is abutted against the cavity wall of the installation cavity.

In one embodiment, the clamping device further comprises a clamping component, the clamping component is connected to the mounting plate in a sliding mode, and the clamping component is arranged on one side of the opening;

the clamping component can be close to and abutted against the joint shell relative to the mounting seat, so that the joint shell is pressed against the wall of the mounting cavity.

In one embodiment, the clamping device further comprises a guide rail and a sliding block connected with the guide rail in a sliding manner; the guide rail is arranged on the mounting plate, and the clamping assembly is fixedly connected to the sliding block; the clamping assembly can slide relative to the extending direction of the guide rail under the driving of the sliding block.

In one embodiment, the clamping device further comprises a positioning component, and the positioning component is connected with the mounting plate; the sliding block is provided with a positioning groove matched with the positioning component; the slider is followed when the extending direction of guide rail slides to predetermineeing the position, locating component can at least part joint in the constant head tank.

In one embodiment, the positioning assembly comprises a positioning plate, an elastic piece and a positioning roller;

the positioning plate is fixedly connected with the mounting plate, one end of the elastic piece is connected with the mounting plate, and the other end of the elastic piece is connected with the positioning roller; when the sliding block slides along the extending direction of the guide rail, the positioning roller can be clamped into the positioning groove.

In one embodiment, the positioning assembly further comprises a second adjusting member, wherein the second adjusting member passes through the positioning plate and is connected with the elastic member; the second adjusting piece can drive the elastic piece to move along the extending direction of the elastic piece.

In one embodiment, the side wall of the slider on the side where the positioning groove is formed is further provided with a chamfer, and the positioning roller can slide into the positioning groove along the chamfer.

In one embodiment, the clamping device further includes at least two elastic buffer members, the at least two elastic buffer members are respectively mounted on two sides of the guide rail, and when the slider slides to an extreme position along the extending direction of the guide rail, the slider abuts against the elastic buffer members.

In one embodiment, the clamping device further comprises a handle, the handle is fixedly connected to the clamping assembly, and the handle is L-shaped.

The utility model has the advantages that:

the utility model provides a pair of clamping device, when needs are in the same place the joint of robot harmonic reducer ware and joint shell assembly, install the flexbile gear of harmonic reducer ware to the installation component this moment on, then can drive the flexbile gear rotation with drive assembly fixed connection's installation component under drive assembly's drive effect. When the driving assembly drives the flexible gear to rotate, the rotating axes of the flexible gear and the rigid gear tend to be overlapped in the rotating process, so that the flexible gear and the rigid gear can be centered. And when the two are aligned, the rigid wheel of the harmonic reducer is fixedly connected with the joint shell. In the process, the display panel can display the output torque of the driving assembly detected by the sensor in real time, so that an installer can judge whether the flexible gear and the rigid gear are centered according to the displayed numerical value of the output torque, and after the flexible gear and the rigid gear are centered, the rigid gear of the harmonic reducer is connected with the joint shell. When the harmonic reducer is assembled with the joint shell, the flexible gear and the rigid gear can be centered, so that the installation axes of the harmonic reducer and the joint shell are easy to coincide, the deviation between the harmonic reducer and the joint shell is small, the meshing transmission effect of the whole robot joint is good, and the working precision of the robot is high.

Drawings

Fig. 1 is a schematic view illustrating a robot joint being assembled by a clamping device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a mounting block and drive assembly of the clamping device of FIG. 1;

figure 3 is a schematic view of the engagement plate of the clamping device of figure 1 assembled with a robotic joint;

FIG. 4 is a schematic view of the mounting block, drive assembly and mounting assembly of the clamping device of FIG. 1 assembled with a robot joint;

FIG. 5 is a left side view of the mounting block, drive assembly and mounting assembly of the clamping device of FIG. 4 assembled with a robot joint;

FIG. 6 isbase:Sub>A partial cross-sectional view taken at A-A of FIG. 5;

FIG. 7 is a schematic view of the mounting block, drive assembly, mounting assembly, clamping assembly and robot joint assembly of the clamping device of FIG. 1;

FIG. 8 is an assembled view of the guide rail, slide block, positioning assembly and elastomeric bumpers of the clamping device of FIG. 1;

FIG. 9 is a partial enlarged view of the portion B shown in FIG. 8;

FIG. 10 is a schematic view of the drive assembly and mounting assembly of the clamping device of FIG. 1 assembled with a robot joint;

fig. 11 is a schematic structural view of a mounting seat in the chucking device shown in fig. 1.

Reference numerals: 100-a drive assembly; 200-a mounting assembly; 210-a power chuck; 211-mounting grooves; 220-connector tiles; 221-mounting bumps; 230-a connecting plate; 240-a second connector; 300-a detection component; 310-a display panel; 320-a pulse generator; 400-mounting a plate; 410-a mounting seat; 411-a mounting cavity; 4111-opening; 500-a clamping assembly; 510-quick elbow clip; 520-a first adjustment member; 530-clamping the buffer block; 540-a handle; 610-a guide rail; 620-a slider; 621-positioning groove; 700-a positioning assembly; 710-a positioning plate; 720-positioning rollers; 730-a second adjustment member; 800-elastic buffer; 900-a robot joint; 910-harmonic reducer; 911-a flexspline; 912-rigid wheel; 920-joint shell; 930-first connecting member.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly 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 the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will 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. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Referring to fig. 1 and 10, fig. 1 is a schematic diagram illustrating an assembly of a robot joint 900 by a clamping device according to an embodiment of the present invention; fig. 10 shows a schematic view of the assembly of the drive assembly 100 and the mounting assembly 200 with the robot joint 900 in the clamping device shown in fig. 1. An embodiment of the utility model provides a clamping device for clamping robot joint 900, robot joint 900 include harmonic speed reducer 910 and joint shell 920. The clamping device of the embodiment comprises a driving assembly 100, a mounting assembly 200 and a detection assembly. The mounting assembly 200 is fixedly connected with the driving assembly 100, and the mounting assembly 200 is used for being detachably connected with the flexible gear 911 of the harmonic reducer 910; the drive assembly 100 and the mounting assembly 200 are configured to rotate the flexspline 911 via the mounting assembly 200 when the drive assembly 100 rotates about its own axis of rotation; the sensing assembly includes a sensor and a display panel 310 electrically connected to each other; the sensor is connected with the power output end of the driving assembly 100; when the driving assembly 100 rotates around its own rotation axis, the sensor can detect the output torque of the driving assembly 100 in real time, and the display panel 310 is used for displaying the value of the output torque detected by the sensor.

When the harmonic reducer 910 of the robot joint 900 and the joint housing 920 are assembled together by the clamping device provided in this embodiment, the flexspline 911 of the harmonic reducer 910 is mounted on the mounting assembly 200, and the mounting assembly 200 fixedly connected to the driving assembly 100 can drive the flexspline 911 to rotate under the driving action of the driving assembly 100. When the driving assembly 100 drives the flexible gear 911 to rotate, the rotation axes of the flexible gear 911 and the rigid gear 912 can be aligned during the rotation process. And when the two are aligned, the rigid wheel 912 of the harmonic reducer 910 is fixedly connected with the joint shell 920. In the process, the display panel 310 can display the output torque of the driving assembly 100 detected by the sensor in real time, so that an installer can judge whether the flexspline 911 and the rigid spline 912 are aligned at the moment according to the displayed value of the output torque, and after the alignment, the rigid spline 912 of the harmonic reducer 910 is connected with the joint housing 920. Through the clamping device, when the harmonic reducer 910 is assembled with the joint shell 920, the flexible gear 911 and the rigid gear 912 can be centered, so that the mounting axes of the harmonic reducer 910 and the joint shell 920 are easy to coincide, the deviation between the mounting axes and the mounting axes is small, the meshing transmission effect of the whole robot joint 900 is finally good, and the working precision of the robot is high.

It should be noted that the driving assembly 100 can drive the flexible gear 911 to rotate clockwise and also drive the flexible gear 911 to rotate counterclockwise, so that the flexible gear 911 can rotate back and forth, and the flexible gear 911 and the rigid gear 912 can be aligned better.

It should be noted that, when the value of the output torque is larger, it indicates that the flexspline 911 and the circular spline 912 of the harmonic reducer 910 are not aligned, and the distance between the rotation axes of the flexspline 911 and the circular spline 912 is different greatly, so that the driving assembly 100 needs to be continued to drive the flexspline 911 to rotate, so that the distance between the rotation axes of the flexspline 911 and the circular spline is smaller.

The following is a detailed description of the structure of the clamping device. Referring to fig. 2-9 and 11, fig. 2 is a schematic view of the mounting base 410 and the driving assembly 100 of the clamping device shown in fig. 1; figure 3 shows a schematic view of the assembly of the connector tile 220 with the robotic joint 900 in the clamping apparatus of figure 1; fig. 4 shows a schematic view of the mounting block 410, the drive assembly 100 and the mounting assembly 200 of the clamping device of fig. 1 assembled with a robot joint 900; fig. 5 shows a left side view of the mounting block 410, the drive assembly 100 and the mounting assembly 200 of the clamping device of fig. 4 assembled with a robot joint 900; FIG. 6 showsbase:Sub>A partial cross-sectional view at A-A of FIG. 5; fig. 7 shows a schematic view of the mounting block 410, the driving assembly 100, the mounting assembly 200, the clamping assembly 500 and the robot joint 900 of the clamping device of fig. 1 assembled;

fig. 8 is a schematic view illustrating the assembly of the guide rail 610, the slider 620, the positioning member 700, and the elastic buffer member 800 in the chucking device of fig. 1; fig. 9 shows a partial enlarged view at B shown in fig. 8; fig. 11 is a schematic view showing a structure of a mounting seat in the chucking device shown in fig. 1.

Referring to fig. 1, the clamping device according to an embodiment of the present invention further includes a pulse generator 320, the pulse generator 320 is electrically connected to the driving assembly 100, and the pulse generator 320 is used for adjusting the rotation speed of the driving assembly 100. In one specific embodiment, the drive assembly 100 is a DD motor with a speed of 100 rpm. Of course, in other embodiments, the rotation speed of the driving assembly 100 may be 150 rpm, which may be adjusted according to actual conditions.

In one specific embodiment, the detection assembly further comprises an RS485 communication interface, and the RS485 communication interface can communicate with a PC.

In one specific embodiment, the display panel 310 displays the output torque value in a signal waveform manner. Specifically, the display panel 310 plots the value of the output torque detected by the sensor to a signal waveform for display, so that the change of the output torque is more intuitively observed.

Referring to fig. 4, 6 and 10, a mounting assembly 200 of a clamping device according to an embodiment of the present invention includes a power chuck 210 and a connecting plate 220 connected to each other; the power chuck 210 is fixedly connected to the driving assembly 100 and the engaging plate 220 is detachably connected to the flexspline 911. The power chuck 210 is fixedly connected with the driving assembly 100, the connecting plate 220 is detachably connected with the flexible wheel 911, and the driving assembly 100 is connected with the flexible wheel 911 because the power chuck 210 is connected with the connecting plate 220. When the driving assembly 100 rotates around its own rotation axis, the flexible wheel 911 can be driven to rotate around the axis of the driving assembly 100.

Referring to fig. 6, in one specific embodiment, the clamping device according to an embodiment of the present invention further includes a second connecting member 240, and the power chuck 210 is fixedly connected to the driving assembly 100 through the second connecting member 240. Specifically, the second connection member 240 is a threaded connection member, but in other embodiments, the second connection member 240 may also be a pin or the like, which is not limited thereto.

In one embodiment, the connector plates 220 and the flexible wheel 911 may be detachably connected by a screw thread.

Referring to fig. 10, in the clamping device according to an embodiment of the present invention, one of the power chuck 210 and the connecting plate 220 is configured with a mounting protrusion, and the other is configured with a mounting groove, and when the connecting plate 220 is mounted on the power chuck 210, the mounting protrusion is engaged with the mounting groove. The engagement plate 220 is connected to the power chuck 210 by fitting the fitting protrusions and the fitting grooves, and the engagement plate and the power chuck are easily assembled and disassembled. In one embodiment, the power chuck 210 is formed with mounting recesses 211 and the connector plate 220 is formed with mounting lugs 221. Of course, in other embodiments, the power chuck 210 may be formed with mounting projections and the connector plates 220 may be formed with mounting recesses.

Referring to fig. 10, the mounting assembly 200 of the clamping device according to an embodiment of the present invention further includes a connecting plate 230, one end of the connecting plate 230 is connected to the connecting plate 220, and the other end of the connecting plate 230 is detachably connected to the flexible wheel 911, so as to detachably connect the connecting plate 220 and the flexible wheel 911.

Referring to fig. 1 and 11, the clamping device according to an embodiment of the present invention further includes a mounting plate 400, and the driving assembly 100 and the detecting assembly are mounted on the mounting plate 400; the clamping device further comprises a mounting seat 410, wherein the mounting seat 410 is mounted on the mounting plate 400, the mounting seat 410 is provided with a mounting cavity 411, and the mounting cavity 411 is provided with an opening 4111; when the flexspline 911 of the harmonic speed reducer 910 is attached to the attachment unit 200, the joint housing 920 is accommodated in the attachment chamber 411 and abuts against the wall of the attachment chamber 411. Through setting up mount pad 410, and at the in-process of robot joint 900 assembly, make joint shell 920 hold locate the installation cavity 411 in, make drive assembly 100 drive flexbile gear 911 rotate, and then when driving whole robot joint 900 and rotate, the chamber wall of installation cavity 411 can play limiting displacement to robot joint 900, and then make robot joint 900 can receive the positioning action and the supporting role of mount pad 410 when the assembly, robot joint 900's position precision is higher.

Referring to fig. 1 and 7, the clamping device according to an embodiment of the present invention further includes a clamping assembly 500, the clamping assembly 500 is slidably connected to the mounting plate 400, and the clamping assembly 500 is disposed at one side of the opening 4111; the clamping assembly 500 can approach and abut against the joint housing 920 relative to the mounting seat 410, so that the joint housing 920 can be pressed against the wall of the mounting cavity 411. Through setting up clamping assembly 500 for joint shell 920 can be pressed from both sides tightly, and then makes robot joint 900 when assembling, is difficult for taking place to rock.

Referring to fig. 1 and 7, a clamping assembly 500 of a clamping device according to an embodiment of the present invention includes a quick toggle clamp 510, and the clamping action on a robot joint 900 is realized by the quick toggle clamp 510. Specifically, the working principle of the rapid elbow clip 510 is the prior art, and will not be described in detail. Simultaneously, one side of the clamping arm of the quick elbow clamp 510 close to the robot shell is provided with a clamping buffer block 530, the clamping buffer block 530 can be abutted against the joint shell 920, and the elastic deformation capacity of the clamping buffer block 530 per se is improved, so that the scratch or damage of the quick elbow clamp 510 to the joint shell 920 is reduced.

Referring to fig. 1 and 7, the clamping assembly 500 of the clamping device according to an embodiment of the present invention further includes a first adjusting member 520, wherein the first adjusting member 520 can adjust a position of the clamping arm of the fast elbow clamp 510 relative to the robot joint 900, so as to adjust a clamping force of the fast elbow clamp 510 clamping the robot joint 900. In one specific embodiment, the first adjustment member 520 is an adjustment bolt.

Referring to fig. 1, 7 and 8, the clamping device according to an embodiment of the present invention further includes a guide rail 610 and a slider 620 slidably connected to the guide rail 610; the guide rail 610 is installed on the installation plate 400, and the clamping assembly 500 is fixedly connected to the sliding block 620; the clamping assembly 500 can slide along the extending direction of the guide rail 610 under the driving of the sliding block 620. The sliding block 620 slides relative to the extending direction of the guide rail 610, so as to drive the clamping assembly 500 to slide in the extending direction of the guide rail 610, thereby enabling the clamping assembly 500 to clamp or loosen the robot joint 900.

Referring to fig. 8 and 9, the clamping device according to an embodiment of the present invention further includes a positioning assembly 700, wherein the positioning assembly 700 is connected to the mounting plate 400; the slider 620 is provided with a positioning groove 621 matched with the positioning component 700; when the sliding block 620 slides to a predetermined position along the extending direction of the guiding rail 610, the positioning assembly 700 can be at least partially clamped in the positioning groove 621. Through setting up locating component 700 for when slider 620 slides to predetermineeing the position along the extending direction of guide rail 610, locating component 700 can the joint in the constant head tank 621 of slider 620, and then makes slider 620 can stop to continue to slide, thereby makes clamping component 500 can just press from both sides tight robot joint 900.

Referring to fig. 8, in the clamping apparatus according to an embodiment of the present invention, the number of the positioning assemblies 700 is two, and the two positioning assemblies 700 are disposed at intervals along the extending direction of the guide rail 610. By providing two positioning assemblies 700, the clamping assembly 500 has two positioning positions on the guide rail 610, one of which is a position for clamping the robot joint 900, and the other of which is a position for loosening the robot joint 900, and when the clamping assembly 500 does not clamp the robot joint 900, the clamping assembly itself is not easy to slide freely along the extending direction of the guide rail 610.

Referring to fig. 8 and 9, a positioning assembly 700 of a clamping device according to an embodiment of the present invention includes a positioning plate 710, an elastic member, and a positioning roller 720; the positioning plate 710 is fixedly connected with the mounting plate 400, one end of the elastic member is connected with the mounting plate 400, and the other end of the elastic member is connected with the positioning roller 720; when the slider 620 slides along the extending direction of the guide rail 610, the positioning roller 720 can be snapped into the positioning groove 621. When the sliding block 620 slides to a certain position along the extending direction of the guide rail 610, the positioning roller 720 can abut against the side wall of the sliding block 620, the elastic member is compressed, when the sliding block 620 continues to slide along the extending direction of the guide rail 610, the positioning roller 720 can slide into the positioning groove 621, and the compressed elastic member applies an elastic force to the positioning roller 720 to enable the positioning roller 720 to be clamped into the positioning groove 621.

Referring to fig. 8 and 9, the positioning assembly 700 of the clamping device according to an embodiment of the present invention further includes a second adjusting member 730, wherein the second adjusting member 730 passes through the positioning plate 710 and is connected to the elastic member; the second adjusting member 730 can drive the elastic member to move along its extending direction. The second adjusting member 730 drives the elastic member to move along its extending direction, so as to adjust the position of the positioning roller 720, and further adjust the abutting force between the positioning roller 720 and the side wall of the sliding block 620. In one specific embodiment, the second adjustment member 730 is an adjustment bolt.

Referring to fig. 8 and 9, in the clamping device according to an embodiment of the present invention, a side wall of the slider 620, which is configured with the positioning groove 621, is further provided with a chamfer, and the positioning roller 720 can slide into the positioning groove 621 along the chamfer. By providing the chamfer on the slider 620, the positioning roller 720 can be conveniently slid into and out of the positioning groove 621 by the buffering and guiding action of the chamfer.

Referring to fig. 8, the clamping device according to an embodiment of the present invention further includes at least two elastic buffers 800, the at least two elastic buffers 800 are respectively mounted on two sides of the guide rail 610, and when the slider 620 slides to the limit position along the extending direction of the guide rail 610, the slider 620 abuts against the elastic buffers 800. Through setting up two elastic buffer 800 for when slider 620 slides to extreme position along the extending direction of guide rail 610, can with elastic buffer 800 butt, and then avoid sliding direct impact to on the lateral wall of guide rail 610 or roll-off guide rail 610. In one specific embodiment, the elastic buffer 800 is a polyurethane buffer block.

Referring to fig. 1 and fig. 7, the clamping device according to an embodiment of the present invention further includes a handle 540, the handle 540 is fixedly connected to the clamping assembly 500, and the handle 540 is L-shaped. By providing the handle 540, an operator can push and pull the clamping assembly 500 by holding the handle 540, and the clamping assembly can slide relative to the extending direction of the guide rail 610 under the action of the sliding block 620. Moreover, since the handle 540 is an L-shaped handle, it can accommodate operators with different palm sizes.

The clamping device can drive the flexible gear 911 to rotate back and forth through the driving assembly 100, can display the output torque of the driving assembly 100 through the display panel 310, and further can judge the centering condition of the flexible gear 911 and the rigid gear 912 according to the output torque; meanwhile, the rotating speed of the driving assembly 100 is adjusted through the pulse generator 320, so that the clamping device is stronger in adaptability; moreover, the clamping assembly 500 can realize the function of fast clamping the robot joint 900, so that the assembly process of the robot joint 900 is quicker and simpler.

Referring to fig. 10, the clamping device according to an embodiment of the present invention further includes a first connecting member 930, and after the flexible gear 911 and the rigid gear 912 of the harmonic reducer 910 are aligned, the first connecting member 930 is moved along the axial direction of the robot joint 900, and the rigid gear 912 of the harmonic reducer 910 is fixedly connected to the joint housing 920 through the first connecting member 930, so as to complete the assembly of the robot joint 900. In one specific embodiment, the first connecting element 930 is a bolt, and the first connecting element 930 can be driven by an electric screwdriver to move along the axial direction of the robot joint 900, specifically, the axial direction of the robot joint is the zz' direction in fig. 1.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A clamping device for clamping a robot joint, the robot joint (900) comprising a harmonic reducer (910) and a joint housing (920), characterized in that the clamping device comprises:

a drive assembly (100);

the mounting assembly (200) is fixedly connected with the driving assembly (100), and the mounting assembly (200) is used for being detachably connected with a flexible wheel (911) of the harmonic reducer (910); the drive assembly (100) and the mounting assembly (200) are configured to rotate the flexspline (911) via the mounting assembly (200) when the drive assembly (100) rotates about its own axis of rotation;

a detection assembly including a sensor and a display panel (310) electrically connected to each other; the sensor is connected with the power output end of the driving assembly (100); when drive assembly (100) rotated around its own axis of rotation, the sensor can real-time detection drive assembly's (100) output torque, display panel (310) are used for with the sensor detects the numerical value of output torque shows.

2. The clamping device as recited in claim 1, further comprising a pulse generator (320), wherein the pulse generator (320) is electrically connected to the drive assembly (100), and wherein the pulse generator (320) is configured to adjust a rotational speed of the drive assembly (100).

3. The clamping device as recited in claim 1, wherein the mounting assembly (200) includes a power chuck (210) and an adapter plate (220) connected to each other; the power chuck (210) is fixedly connected with the driving assembly (100), and the connecting plate (220) is detachably connected with the flexible wheel (911);

one of the power chuck (210) and the connector tile (220) is configured with mounting lugs and the other is configured with mounting grooves, the mounting lugs cooperating with the mounting grooves when the connector tile (220) is mounted to the power chuck (210).

4. The clamping device as recited in claim 1, further comprising a mounting plate (400), the drive assembly (100) and the detection assembly being mounted to the mounting plate (400);

the clamping device further comprises a mounting seat (410), the mounting seat (410) is mounted on the mounting plate (400), the mounting seat (410) is provided with a mounting cavity (411), and the mounting cavity (411) is provided with an opening (4111);

when a flexible wheel (911) of the harmonic reducer (910) is installed on the installation assembly (200), the joint shell (920) is accommodated in the installation cavity (411) and is abutted against the cavity wall of the installation cavity (411).

5. The clamping device as recited in claim 4, further comprising a clamping assembly (500), wherein the clamping assembly (500) is slidably connected to the mounting plate (400), and the clamping assembly (500) is disposed on one side of the opening (4111);

the clamping component (500) can approach and abut against the joint shell (920) relative to the mounting seat (410) so that the joint shell (920) is pressed against the wall of the mounting cavity (411).

6. The clamping device as recited in claim 5, further comprising a guide rail (610) and a slider (620) slidably coupled to the guide rail (610); the guide rail (610) is mounted on the mounting plate (400), and the clamping assembly (500) is fixedly connected to the sliding block (620); the clamping assembly (500) can slide relative to the extending direction of the guide rail (610) under the driving of the sliding block (620).

7. The clamping device as recited in claim 6, further comprising a positioning assembly (700), wherein the positioning assembly (700) is connected to the mounting plate (400); the sliding block (620) is provided with a positioning groove (621) matched with the positioning component (700); when the sliding block (620) slides to a preset position along the extending direction of the guide rail (610), the positioning assembly (700) can be at least partially clamped in the positioning groove (621).

8. The clamping device as recited in claim 7, wherein the positioning assembly (700) comprises a positioning plate (710), an elastic member and a positioning roller (720);

the positioning plate (710) is fixedly connected with the mounting plate (400), one end of the elastic piece is connected with the mounting plate (400), and the other end of the elastic piece is connected with the positioning roller (720); when the sliding block (620) slides along the extending direction of the guide rail (610), the positioning roller (720) can be clamped into the positioning groove (621).

9. The clamping device as recited in claim 8, wherein the positioning assembly (700) further comprises a second adjusting member (730), the second adjusting member (730) passes through the positioning plate (710) and is connected with the elastic member; the second adjusting piece (730) can drive the elastic piece to move along the extending direction of the elastic piece.

10. The clamping device according to any one of claims 6 to 9, further comprising at least two elastic buffer members (800), wherein the at least two elastic buffer members (800) are respectively mounted on two sides of the guide rail (610), and when the sliding block (620) slides to an extreme position along the extending direction of the guide rail (610), the sliding block (620) abuts against the elastic buffer members (800).

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