CN108705307A - A kind of robot shaft coupling joint automatic producing device - Google Patents

Abstract

The invention relates to an automatic production equipment for robot coupling joints, comprising a fixed seat, on which a filling device A for installing a lubricating sleeve, a filling device B for installing a connecting column, and an extrusion device are sequentially arranged. The present invention combines the two-layer casing and the stress-bearing elements together through the combination of two filling devices, and finally fixes the three together through the extrusion device ingeniously according to the shape of the force-bearing spherical surface, which is efficient and convenient. It avoids the defects caused by fastening the traditional housing with screws during installation, and improves the efficiency of manufacturing.

Description

An automatic production equipment for robot coupling joints

technical field

The invention relates to the technical field of robots, in particular to automatic production equipment for robot coupling joints.

Background technique

In the known technical field, a planar articulated robot generally has at least three rotation axes parallel to each other, and the cross sections of the rotation axes are parallel to each other. The main application areas are loading, unloading, welding, packaging, fixing, coating, painting, bonding, packaging, special handling operations, assembly, etc. The more joints of the rotary axis of the robot, the larger the space and range of its operation, but at this time, the self-weight of all the extended ends and the torque or other loads required for operation will cause serious burdens on the joints of the rotary axis, so The higher the accuracy of assembly, the strength of materials, and other processing requirements, it will greatly increase the cost of manufacturing and subsequent maintenance, and it is also not conducive to the expansion of more rotating shafts. At the same time, in the daily use of planar joint robots, they are generally used for loading objects, which need to withstand certain shocks and vibrations. The traditional robot joint structure is not good at bearing heavy loads, and it is a very serious problem for the rigidity of the entire mechanical mechanism. big challenge.

For example, a device for the coupling joint of a robot disclosed in Figure 1 of the specification needs to embed the lubricating sleeve 2 in the connecting shell 3, and at the same time, the connecting cylinder needs to be embedded in the lubricating sleeve 2. At the same time, the three need to be well integrated Sealed together, the traditional device does not have good adaptability, and if it is artificially manufactured, the efficiency will be even lower.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the above problems and provide an automatic production equipment for robot coupling joints, which can efficiently complete the installation of the two shell structures and the spherical structure.

The technical solution adopted by the present invention to solve the technical problem is: an automatic production equipment for robot coupling joints, including a fixing seat, on which a filling device A for installing a lubricating sleeve, and a filling device A for installing a connecting column Filling device B, extrusion device.

Further, as a specific embodiment, the filling device A in the present invention has a feeding device for conveying the lubricating sleeve and a filling rod assembly, the feeding device has a linear feeding track A, and the filling rod The assembly has a limit seat body arranged at the end of the feeding track A, and the lubricating sleeve can slide in along the side wall of the limit seat body. , and can pass through the filling rod of the limit seat body, the filling rod has at least three conical rods that are rotatably arranged around the same central axis, and gaps are provided between two adjacent conical rods.

Further, as a specific embodiment, the number of the cone rods in the present invention is four, and a connecting sleeve is provided above the four cone rods, and a connecting sleeve for connecting the cylinder is provided above the connecting sleeve. The fixed head is inlaid with an adjustment column in the center of the connecting sleeve, and a pre-compressed spring is provided between the adjustment column and the fixed head. , the top end of the tapered rod is provided with a fixed piece that can be embedded in the connecting sleeve body, and the fixed piece is fixed on the connecting sleeve body by bolts.

Further, as a specific embodiment, the filling device B in the present invention has a feeding rail B and a flipping installation assembly, and the feeding rail B has three horizontally arranged guide rods, and the cross section of the guide rods is vertically In the vertical direction, it is distributed in an isosceles triangle shape, and two of the guide rods are located on the same horizontal plane, and the remaining guide rod is located above the horizontal plane where the two guide rods are located. The moving first sliding seat is provided with a second sliding seat perpendicular to the moving direction of the first sliding seat on the first sliding seat, and a second sliding seat that can reciprocate vertically is provided on the second sliding seat. The third moving sliding seat is provided with a rotatable mechanical gripper protruding in the horizontal direction on the third sliding seat.

Further, as a specific embodiment, the extruding device in the present invention has a fixed rectangular frame seat, and a cylindrical shaft tube is fixed at the lower part of the rectangular frame seat, and slides inside the cylindrical shaft tube. An intermediate column is installed, and a connecting column driven by a hydraulic cylinder is fixedly connected to the upper end of the intermediate column. An avoidance chamber penetrating in the vertical direction is provided on the connecting column, and a An outer rotating sleeve, in which a driving shaft is nested through a key connection, the upper end of the driving shaft extends into the avoidance chamber and is connected with a driving motor through a pulley, and the lower end of the outer rotating sleeve An extruding assembly is provided, and the extruding assembly has at least three limiting sheets that are rotatably arranged around the central axis of the outer rotating sleeve, and an extruding block is arranged in the center of the area formed by the limiting sheets , Extruding rollers are arranged between each limiting piece and the extruding block.

Further, in order to be matched with the whole equipment and facilitate automatic production, the present invention also has at least three mounting seats for placing the connection housing, and the initial positions of the mounting seats are respectively connected to the filling device A, filling device B, extrusion corresponding to the device.

The beneficial effects of the present invention are: the present invention combines the two-layer casing and the force-bearing element together through the combination of the two filling devices, and finally cleverly uses the extrusion device to combine the three layers according to the shape of the force-bearing spherical surface. Fixing together is efficient and convenient, avoiding the defects caused by screw fastening of traditional shells during installation, and improving manufacturing efficiency.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a structural schematic diagram of a coupling joint of a robot;

Fig. 2 is the overall structural representation of the present invention;

Fig. 3 is the structural representation of filling device A among the present invention;

Fig. 4 is the structural representation of filling rod among the present invention;

Fig. 5 is the explosion schematic diagram of filling rod among the present invention;

Fig. 6 is the structural representation of filling device B among the present invention;

Fig. 7 is a partially enlarged schematic diagram of place A in Fig. 6;

Fig. 8 is a structural schematic diagram 1 of an extrusion device in the present invention;

Fig. 9 is a structural schematic diagram II of the extruding device in the present invention;

Fig. 10 is an exploded schematic diagram of an extrusion device in the present invention;

Fig. 11 is a partially enlarged schematic diagram of place B in Fig. 10;

Detailed ways

The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

A coupling joint for a robot as shown in Figure 1 has a connecting cylinder 1, the upper end of the connecting cylinder 1 is in the shape of a ball head, and the lower end is in the shape of a cylinder, and the lower end of the cylinder can be directly set as a stud. The upper end of the cylinder 1 is in the shape of a ball head, and the outside is sequentially provided with a lubricating sleeve 2 and a connecting housing 3 from the inside to the outside. The inner cavity of the lubricating sleeve 2 is in the shape of a hollow sphere and its surface is coated with a graphene wear-resistant layer. And the lower end of the lubricating sleeve 2 covers the upper end of the connecting cylinder 1, the ball end of the entire connecting cylinder 1 is covered in the inner cavity of the lubricating sleeve 2, and an annular protrusion is arranged on the outer side of the connecting housing 3. platform, the upper part of the annular boss is set as a connecting part, the connecting part can be directly connected to other mechanical arms or devices, the lower end of the annular boss covers the lower end of the lubricating sleeve 2, and the lubricating sleeve 2 is directly embedded in the connecting in housing 3. The rotating shaft of the planar joint robot is subjected to static load, that is, the self-weight of multiple joints. Through the direct rotational friction of the ball head, it can directly replace the traditional ball bearing. Through the function of the graphene wear-resistant layer, it can also avoid In traditional cases, it is necessary to add lubricating grease, which is easy to enter dust and cause oil blockage. Large-area contact can significantly improve the carrying capacity. At the same time, in order to prevent the α angle that may be shifted in an instant when bearing the cargo load A support bearing 4 may be provided at the joint between the upper end and the lower end of the connecting cylinder 1, and the support bearing 4 is located below the lubricating sleeve 2, so that the effect of implementation is better. In order to further improve the stability of the support, a limit collar 5 is provided between the support bearing 4 and the lubricating sleeve 2. At the same time, the limit collar 5 can seal the inner surface of the lubricating sleeve 2 and the ball head connecting the cylinder 1. the role of the region.

A preferred embodiment of the automatic production equipment for a robot coupling joint of the present invention as shown in FIG. Installed filling device B11 and extrusion device 12.

As shown in Figures 3 to 5, the filling device A9 has a feeding device 91 and a filling rod assembly 92 for conveying the lubricating sleeve 2, the feeding device 91 has a linear feeding track A911, and the filling rod assembly 92 has a limit seat body 921 arranged at the end of the feeding track A911, and the lubricating sleeve 2 can slide in along the side wall of the limit seat body 921, and there is a reciprocating movement on the limit seat body 921 above the limit seat body 921. , and can pass through the filling rod 922 of the limit seat body 921, the filling rod 922 has four conical rods 9221 that are rotatably arranged around the same central axis, and there are gaps between adjacent two conical rods 9221, The top of the four taper rods 9221 is provided with a connecting sleeve 9224, and a fixed head 9222 for connecting the cylinder is arranged above the connecting sleeve 9224. An adjusting column 9223 is embedded in the center of the connecting sleeve 9224. Between the adjusting column 9223 and A pre-loaded spring is provided between the fixed heads 9222, and the lower end of the adjustment column 9223 is in the shape of a ball head against the top of the cone rod 9221, and the top of the cone rod 9221 is provided with a fixed piece that can be embedded in the connecting sleeve 9224 , the fixed piece is fixed on the connecting sleeve 9224 by bolts.

As shown in Figures 6 and 7, the filling device B11 has a feeding track B111 and an overturning installation assembly 112, the feeding track B111 has three horizontally arranged guide rods 1111, and the cross section of the guide rods 1111 is vertical The top is distributed in an isosceles triangle shape, and two of the guide rods 1111 are located on the same horizontal plane, and the remaining guide rod 1111 is located above the horizontal plane where the two guide rods 1111 are located. The first sliding seat 1121 that moves back and forth in the direction of the first sliding seat 1121 is provided with a second sliding seat 1122 that is perpendicular to the moving direction of the first sliding seat 1121. The second sliding seat 1122 is provided with a vertical The third sliding seat 1123 moves back and forth in the vertical direction, and the third sliding seat 1123 is provided with a mechanical gripper 1124 protruding in the horizontal direction and rotatable.

As shown in Figures 8 to 11, the extruding device 12 has a fixed rectangular frame seat 121, a cylindrical shaft tube 122 is fixedly installed on the lower part of the rectangular frame seat 121, and an intermediate column is slidably installed in the cylindrical shaft tube 122. 123, the upper end of the middle column 123 is fixedly connected with a connecting column 124 driven by a hydraulic cylinder, the connecting column 124 is provided with an avoidance chamber penetrating in the vertical direction, and an outer rotating sleeve 125 is installed in the middle column 123 for rotation, A driving shaft 126 is nested in the outer rotating sleeve 125 through a key connection, the upper end of the driving rotating shaft 126 extends into the avoidance chamber and is connected with a driving motor 127 through a pulley, and an extruding assembly is arranged at the lower end of the outer rotating sleeve 125 126. The extruding assembly 126 has at least three limiting sheet bodies 1261 that are rotated around the central axis of the outer rotating sleeve 125, and an extruding block 1262 is arranged in the center of the area formed by the limiting sheet bodies 1261, A squeezing roller 1263 is arranged between each limiting piece 1261 and the squeezing block 1262 .

When the above embodiment is in operation, the initial positions of the three mounting seats 14 correspond to the filling device A9, the filling device B11 and the extrusion device 12 respectively. The connection housing 3 can be directly put into the first installation seat 14 by the mechanical arm.

At this time, the first installation seat 14 with the connection housing 3 moved to the bottom of the limit seat body 921, the feeding track A911 pushes the lubricating sleeve 2 into the limit seat body 921, and then the taper rod 9221 resists the lubricating sleeve 2 together. and move down together until the lubricating sleeve 2 is filled into the connection housing 3. Since there is a certain gap between the taper rods 9221, during the process of squeezing the lubricating sleeve 2 into the connection housing 3, the taper rods 9221 will It is folded and merged into a cylinder until it adapts to the size of the port of the connecting shell 3, and finally the lubricating sleeve 2 is completely in close contact with the connecting shell 3, and then the cone rod 9221 is lifted up and reset under the action of the pre-compressed spring.

At this time, the first installation seat 14 containing the lubricating sleeve 2 and the connecting housing 3 is moved to the bottom of the mechanical gripper 1124, and the mechanical gripper 1124 first moves toward The ends of the guide rods 1111 move laterally. Because the guide rods 1111 are distributed in an isosceles triangle shape, each connecting cylinder 1 sent into it will be under the condition of its own weight. The cylinder part hangs down freely. When the mechanical gripper 1124 moves horizontally to the bottom of the connecting cylinder 1, the mechanical gripper 1124 moves upwards, then locks, and traverses in the opposite direction, so that the connecting cylinder 1 is separated from the guide rod 1111, and then The mechanical gripper 1124 turns over so that the ball head part of the connecting cylinder 1 faces down, and then continues to traverse to the top of the mounting seat 14, and then inserts the ball head part of the connecting cylinder 1 into the lubricating sleeve 2 through the third sliding seat 1123 , and then the filling device B11 is reset.

Then the first installation seat 14 containing the lubricating sleeve 2, the connecting housing 3, and the connecting column 1 moves to the bottom of the extruding assembly 126, and the hydraulic cylinder drives the connecting column 124 and the middle column 123 to move downward, so that the extruding rollers 1263 touches the outer edge of the upper end of the connecting shell 3, and then continues to move downward, squeezing the roller 1263 will cause the connecting shell 3 and the lubricating sleeve 2 to deform together, making full use of the arc shape of the ball head, and then turning outward The sleeve 125 rotates, so that the extrusion roller 1263 rotates, and finally the connecting housing 3 and the lubricating sleeve 2 are squeezed and bent together to form a covered arc, and the extrusion device 12 is reset.

After the preliminary assembly is completed, the coupling joint can be sent to the next station through the first mounting seat 14, and the limiting collar 5 and the support bearing 4 are directly fitted in sequence to complete the final assembly. The remaining two or more mounting seats 14 can be circulated following the change of the station position of the first mounting seat 14 .

Inspired by the above-mentioned ideal embodiment according to the present invention, through the above-mentioned description content, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.

Claims (6)

1. An automatic production equipment for robot coupling joints, comprising a fixed seat, characterized in that: the fixed seat is successively provided with a filling device A (9) for installing a lubricating sleeve (2), and a filling device A (9) for connecting a cylinder (1) Installed filling device B (11) and extrusion device (12). 2. A kind of automatic production equipment for robot coupling joints as claimed in claim 1, characterized in that: the filling device A (9) has a feeding device (91) for conveying the lubricating sleeve (2), a filling rod component(92), The feeding device (91) has a linear feeding track A (911), the filling rod assembly (92) has a limit seat (921) arranged at the end of the feeding track A (911), and the The lubricating sleeve (2) can slide in along the side wall of the limit seat body (921), and above the limit seat body (921) is provided with a reciprocating movement in the vertical direction and can pass through the limit seat body (921). 921), the filling rod (922) has at least three conical rods (9221) that are rotatably arranged around the same central axis, and gaps are provided between adjacent two conical rods (9221) . 3. The automatic production equipment for robot coupling joints according to claim 2, characterized in that: the number of said cone rods (9221) is four, and a connecting sleeve is provided above the four cone rods (9221) Body (9224), above the connecting sleeve (9224) is provided with a fixed head (9222) for connecting the cylinder, and an adjusting column (9223) is embedded in the center of the connecting sleeve (9224), in the A pre-compressed spring is provided between the adjustment column (9223) and the fixed head (9222), the lower end of the adjustment column (9223) is in the shape of a ball head and is against the top of the cone rod (9221), and the cone rod (9221 ) is provided with a fixed piece that can be embedded in the connecting sleeve (9224), and the fixed piece is fixed on the connecting sleeve (9224) by bolts. 4. The automatic production equipment for robot coupling joints according to claim 1, characterized in that: the filling device B (11) has a feeding track B (111) and an overturning installation assembly (112), The feeding track B (111) has three guide rods (1111) arranged horizontally, the cross section of the guide rods (1111) is distributed in an isosceles triangle in the vertical direction, and two of the guide rods (1111) Located on the same horizontal plane, the remaining one guide rod (1111) is located above the horizontal plane where the two guide rods (1111) are located, The overturning installation assembly (112) has a first sliding seat (1121) that can move back and forth along the extension direction of the guide rod (1111), and the first sliding seat (1121) is provided with the first sliding seat (1121). 1121), the second sliding seat (1122) whose moving direction remains vertical, is provided with a third sliding seat (1123) that can move back and forth along the vertical direction on the second sliding seat (1122), and on the second sliding seat (1122) The three sliding seats (1123) are provided with a rotatable mechanical gripper (1124) protruding in the horizontal direction. 5. A kind of automatic production equipment for robot coupling joints as claimed in claim 1, characterized in that: said extruding device (12) has a fixed rectangular frame (121), and said rectangular frame (121) 121) is fixedly provided with a cylindrical shaft cylinder (122), in which an intermediate column (123) is slidably installed, and the upper end of the intermediate column (123) is fixedly connected with a cylinder driven by a hydraulic cylinder. The connecting column (124), on the connecting column (124) is provided with an avoidance chamber penetrating in the vertical direction, and an outer rotating sleeve (125) is installed in the middle column (123). The outer rotating sleeve (125) is nested with a driving shaft (126) through a key connection, and the upper end of the driving shaft (126) extends into the avoidance chamber and is connected with a driving motor (127) through a pulley. The lower end of the outer rotating sleeve (125) is provided with an extruding assembly (126), and the extruding assembly (126) has at least three limiting plates (1261) arranged to rotate around the central axis of the outer rotating sleeve (125). , an extruding block (1262) is provided at the center of the region formed by the limiting sheet (1261), and an extruding block (1262) is arranged between each limiting sheet (1261) and the extruding block (1262) Roller (1263). 6. The automatic production equipment for robot coupling joints according to any one of claims 1 to 5, characterized in that: it also has at least three mounting seats (14) for placing the connecting housing (3), and The initial positions of the mounting seat (14) correspond to the filling device A (9), the filling device B (11) and the extruding device (12) respectively.