Wrist flange plate abrasion reducing mechanism of six-axis robot

Abstract

The invention belongs to the technical field of flange manufacturing, and provides a mechanism for reducing abrasion of a wrist flange plate of a six-axis robot. A groove structure is arranged on the matching surface of the wrist flange plate and the pressing ring and comprises a first groove and a first elastic body, a boss embedded into the pressing ring is arranged in the center of the wrist flange plate, the first groove surrounds the boss, the first elastic body is arranged in the first groove, one side of the first elastic body is in contact with the wrist flange plate, and the other side of the first elastic body is in contact with the pressing ring. The other side of the first elastic body contacts with the pressing ring. By changing the structure, complete rigid connection is converted into elastic and plastic connection, so that abnormal abrasion is reduced, and the service life of the wrist flange plate is prolonged; lubricating oil is stored, so that the friction coefficient between parts is reduced, and the impact of abnormal clamping and collision of the external clamping jaw can be absorbed; the elastic body is arranged between the wrist flange plate and the pressing ring, fixing reliability between the wrist flange plate and the pressing ring is improved, and machining requirements are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of flange manufacturing, and provides a mechanism for reducing wear of a wrist flange of a six-axis robot. Background Art

[0002] Due to the gradual advancement of the automation industry and the research and development and manufacturing of domestic robots, industries that work in some harsh working environments are the first to promote the replacement of traditional manual labor by robots, such as the forging industry. Since robots need to be able to fully replace traditional manual work, robots need to be able to move in various positions and postures, and the relatively precise and flexible six-axis robot is the most commonly used type of robot. However, due to the particularity of the forging industry, the forging production environment with frequent vibrations and impacts, the mainstream six-axis robots on the market often malfunction due to vibration wear of components, and even accidents occur due to loose connections. Especially the wrist flange at the joint part of the six-axis robot, due to the frequent operation of the robot, it needs to rotate multiple times. During the rotation process, it is subjected to abnormal overload and impact, resulting in a high failure rate. The prior art US77078932B2 discloses an industrial robot, including: a tool flange at the end of the outer arm of the robot, the tool flange being integrated with a tool flange bracket; a fixing element configured to fix a tool to the tool flange; and a sensor adapted to sense at least one of a force or a torque applied to the tool fixed to the tool flange, wherein the sensor includes at least one sensor member built into the tool flange or arranged on a tool flange carrier. Among them, the sensor includes at least one tensiometer fixed to the tool flange. Among them, the sensor includes a plurality of sensor members for sensing force and / or torque according to multiple degrees of freedom. The prior art increases spokes and sensors at various parts of the flange and the robot to monitor the state of the flange, replaces the flange according to the sensor signal and reinstalls the sensor, which consumes a large amount of the flange and requires a large number of replaced sensors, reducing the production efficiency of the robot. The inventor believes that there is great room for improvement in the prior art. Summary of the Invention

[0003] The object of the present invention is to provide a wrist flange, which changes its structure to transform a completely rigid connection into a connection mode with elasticity and plasticity, thereby reducing abnormal wear and extending the service life of the wrist flange. Secondly, maintaining lubricating oil between the pressure ring and the wrist flange reduces the friction coefficient between components; the presence of lubricating oil between the wrist flange and the pressure ring can absorb the impact of abnormal clamping and collision of the external gripper; an elastomer is provided between the wrist flange and the pressure ring to improve the fixing reliability between the wrist flange and the pressure ring and the convenience of assembly and processing. To this end, the present invention provides a wear reduction mechanism for a six-axis robot wrist flange, including a wrist flange and a pressure ring. The mating surfaces of the wrist flange and the pressure ring are provided with a groove structure, which includes a first groove and a first elastomer. A boss for embedding the pressure ring is provided at the center of the wrist flange. The first groove surrounds the boss, and a first elastomer is provided in the first groove. One side of the first elastomer contacts the wrist flange, and the other side of the first elastomer contacts the pressure ring. By changing the mating surface structure with the pressure ring and providing a first elastomer with plasticity, the wrist flange reduces the rigid connection between components, buffers the abnormal pressure when the six-axis robot is abnormally overloaded, and reduces the rigid impact caused by abnormal clamping and collision of the external gripper through the elasticity of the first elastomer; a small oil storage space is provided between the wrist flange and the pressure ring by using the groove structure, and the flow of lubricating oil is blocked by the first elastomer, which can reduce the loss of lubricating oil between the wrist flange and the pressure ring and reduce the impact caused by the mutual friction between the wrist flange and the pressure ring; the first elastomer has the ability of plastic deformation, which can avoid the interference problem between the wrist flange and the pressure ring and other components, reduce the tolerance requirements for the thickness processing of the pressure ring, and at the same time, when the fixing bolt group between the wrist flange and the pressure ring becomes loose, the first elastomer expands to maintain the reliable fixing between the wrist flange and the pressure ring.

[0004] Preferably, the first groove is an annular groove, and the first elastomer is an elastic sealing ring. The first groove near the boss of the wrist flange is an annular groove that cooperates with the elastic sealing ring, reducing the outflow of lubricating oil at the center boss of the wrist flange, maintaining the presence of lubricating oil between the pressure ring and the wrist flange, and reducing the friction coefficient between components; the presence of lubricating oil between the wrist flange and the pressure ring forms an oil film that can absorb the impact of abnormal clamping and collision of the external gripper, reduce the abnormal clamping and collision of the external gripper, and the wear of the wrist flange and the pressure ring, and extend the service life of the wrist flange.

[0005] Preferably, the wrist flange is provided with a bolt group, and the groove structure includes a second groove. The bolt group is located between the second groove and the first groove, and an oil storage area is defined between the first groove and the second groove. The roughness of the oil storage area is controlled between 3 and 7 microns, enabling the oil storage area to have a suitable gap for storing lubricating oil. Being too smooth or too rough is not conducive to the storage of lubricating oil in the oil storage area. The roughness within the above range can maintain a sufficient amount of lubricating oil to keep the contact surface between the wrist flange and the pressure ring in a lubricated state. The first groove and the second groove are used to separate the oil storage area from other areas of the wrist flange, facilitating the surface machining of the oil storage area and helping to block the outflow of lubricating oil from the oil storage area, thus keeping the contact surface between the wrist flange and the pressure ring in a lubricated state.

[0006] Preferably, the wrist flange is provided with a first oil passage. One end of the first oil passage is connected to the outer wall of the wrist flange, and the other end is connected to the oil storage area. Since the oil storage area is located in the central area of the wrist flange, the first oil passage is used to directly supply lubricating oil to the oil storage area, avoiding waste of lubricating oil during the supply process. At the same time, it also avoids the blockage of the second groove to the supply of lubricating oil.

[0007] Preferably, the inner wall of the second groove near the center of the wrist flange has an inclination angle, and the upper groove width of the second groove is greater than the bottom groove width of the second groove. During the movement of the six-axis robot, lubricating oil inevitably flows out from the center of the wrist flange to the outside. The second groove can block the outward flow of lubricating oil. Since the inner wall of the second groove near the center of the wrist flange has an inclination angle, it is more difficult for the lubricating oil accumulated in the second groove to flow out in the direction away from the center of the wrist flange than in the reverse direction, enabling the oil storage area to store lubricating oil and maintain the lubricated state within the area.

[0008] Preferably, the bolt group includes at least two bolts evenly distributed in a circle, and the first oil passage is located between the bolts.

[0009] Preferably, the groove structure includes a second oil passage, and the second oil passage is at least two inclined grooves provided on the outer wall surface where the boss cooperates with the pressure ring. Inclined grooves are provided on the outer wall surface of the boss, and lubricating oil is stored in the inclined grooves. When the six-axis robot experiences abnormal overload, the lubricating oil can absorb both axial impact and torsional moment, reducing the mutual wear between the wrist flange and the pressure ring due to abnormal overload and vibration. The second oil passage enables the first oil passage of the wrist flange to communicate with the surface of the internal shaft parts of the boss of the wrist flange, facilitating the lubrication of the internal shaft parts of the six-axis robot.

[0010] Preferably, a second elastic body is provided in the second groove. One side of the second elastic body contacts the wrist flange, and the other side of the second elastic body contacts the pressing ring. The second elastic body is provided in the second groove, and the second elastic body can improve the blocking effect of the second groove on the lubricating oil in the oil storage area; the second elastic body can cooperate with the first elastic body to keep the two planes on both sides of the bolt group flush, avoid the inclination of the bolt group during the fixing process, and avoid the loosening or even thread wear of the bolt group when the six-axis robot is subjected to abnormal impact and abnormal load.

[0011] The present invention provides a wrist flange. By changing its structure, the completely rigid connection is transformed into a connection mode with elasticity and plasticity, thereby reducing abnormal wear and extending the service life of the wrist flange; keeping lubricating oil between the pressing ring and the wrist flange to reduce the friction coefficient between components; there is lubricating oil between the wrist flange and the pressing ring, which can absorb the impact of abnormal clamping and collision of the external gripper; an elastic body is provided between the wrist flange and the pressing ring to improve the fixing reliability and assembly convenience between the wrist flange and the pressing ring and has the following beneficial effects: avoiding the interference problem between the wrist flange and the pressing ring and other components caused by the groove structure, reducing the tolerance requirements for the thickness processing of the pressing ring; when the fixing bolt group between the wrist flange and the pressing ring becomes loose, the first elastic body expands to keep the fixing between the wrist flange and the pressing ring reliable; the second oil passage can also absorb the torsional moment while absorbing the axial impact, reducing the mutual wear between the wrist flange and the pressing ring due to abnormal overload and vibration; the second oil passage enables the first oil passage of the wrist flange to communicate with the surface of the internal shaft parts of the boss of the wrist flange, facilitating the lubrication of the internal shaft parts of the six-axis robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained according to the provided drawings without creative efforts.

[0013] Figure 1 It is a schematic structural diagram of the present invention; Figure 2 It is a schematic structural diagram of the wrist flange of the present invention; Figure 3 It is a schematic structural diagram of the wrist flange in the second embodiment of the present invention; Figure 4 It is a schematic cross-sectional structural diagram of the second embodiment of the present invention; Figure 5 It is a schematic structural diagram of the wrist flange in the third embodiment of the present invention; Figure 6Schematic top view structure diagram of the wrist flange for the third embodiment of the present invention; Figure 7 Cross-sectional view of the wrist flange for the third embodiment of the present invention; Figure 8 Partial enlarged view of the second groove of the present invention.

[0014] Explanation of reference numerals: 1 wrist flange; 101 first groove; 102 first elastomer; 103 second elastomer; 104 second groove; 105 second oil passage; 106 first oil passage; 2 pressure ring; 3 boss; 4 bolt group; 5 oil storage area. Detailed implementation manners

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0016] Embodiment 1 Combined with Figure 1 and Figure 2 As shown, a wear reduction mechanism for a six-axis robot wrist flange includes a wrist flange 1, a bolt group 4, and a pressure ring 2. A groove structure is provided on the mating surface of the wrist flange 1 and the pressure ring 2. The groove structure includes a first groove 101 and a first elastomer 102. A boss 3 for embedding the pressure ring 2 is provided at the center of the wrist flange 1. The first groove 101 surrounds the boss 3. A first elastomer 102 is provided in the first groove 101. One side of the first elastomer 102 contacts the wrist flange 1, and the other side of the first elastomer 102 contacts the pressure ring 2. By changing the mating surface structure of the wrist flange 1 with the pressure ring 2 and providing the first elastomer 102 with plasticity, the rigid connection between components is reduced, the abnormal pressure of the wrist flange 1 during abnormal overload of the six-axis robot is buffered, and the rigid influence caused by abnormal clamping and collision of the external gripper is reduced through the elasticity of the first elastomer 102; a micro oil storage space is provided between the wrist flange 1 and the pressure ring 2 by using the groove structure, and the flow of lubricating oil is blocked by the first elastomer 102, which can reduce the loss of lubricating oil between the wrist flange 1 and the pressure ring 2 and reduce the influence caused by the mutual friction between the wrist flange 1 and the pressure ring 2; the first elastomer 102 has the ability of plastic deformation, which can avoid the interference problem between the groove structure and other components of the wrist flange 1 and the pressure ring 2, reduce the tolerance requirements for the thickness processing of the pressure ring 2. At the same time, when the fixing bolt group 4 between the wrist flange 1 and the pressure ring 2 becomes loose, the first elastomer 102 expands to maintain the reliable fixation between the wrist flange 1 and the pressure ring 2.

[0017] Such as Figure 2As shown, the first groove 101 is an annular groove, and the first elastomer 102 is an elastic sealing ring. The first groove 101 of the wrist flange 1 near the boss 3 is an annular groove that cooperates with the elastic sealing ring to reduce the outflow of lubricating oil at the center boss 3 of the wrist flange 1, maintain the presence of lubricating oil between the pressing ring 2 and the wrist flange 1, and reduce the friction coefficient between components; the presence of lubricating oil between the wrist flange 1 and the pressing ring 2 can absorb the impact of abnormal clamping and collision of the external gripper, reduce the abnormal clamping and collision of the external gripper, and the wear of the wrist flange 1 and the pressing ring 2, and extend the service life of the wrist flange 1. The first groove 101 is located on the surface of the wrist flange 1 rather than the surface of the pressing ring 2, which facilitates the installation of the wrist flange 1 and the pressing ring 2. Since the actual size of the bolt group 4 in the wrist flange 1 is relatively small, machining the first groove 101 on the surface of the pressing ring 2 and then installing the first elastomer 102 and installing it on the wrist flange 1 are likely to cause slipping.

[0018] Embodiment 2 Combined with Figure 3 and Figure 4 As shown, different from Embodiment 1, the groove structure includes a second groove 104. The bolt group 4 is located between the second groove 104 and the first groove 101, and the oil storage area 5 is between the first groove 101 and the second groove 104. The roughness of the oil storage area 5 is controlled between 3 - 7 microns, so that the oil storage area 5 has a suitable gap to store lubricating oil. Being too smooth or too rough is not conducive to the storage of lubricating oil in the oil storage area 5. The roughness within the above range can maintain a sufficient amount of lubricating oil to keep the contact surface between the wrist flange 1 and the pressing ring 2 in a lubricated state; using the first groove 101 and the second groove 104 to separate the oil storage area 5 from other areas of the wrist flange 1 facilitates the surface machining of the oil storage area 5, is conducive to blocking the outflow of lubricating oil from the oil storage area 5, and keeps the contact surface between the wrist flange 1 and the pressing ring 2 in a lubricated state.

[0019] As Figure 8 shown, the inner wall of the second groove 104 near the center of the wrist flange 1 has an inclination angle, and the upper groove width of the second groove 104 is greater than the bottom groove width of the second groove 104. Due to the inevitable outflow of lubricating oil from the center of the wrist flange 1 during the movement of the six-axis robot, the second groove 104 can block the outward outflow of lubricating oil; since the inner wall of the second groove 104 near the center of the wrist flange 1 has an inclination angle, the difficulty of the lubricating oil accumulated in the second groove 104 flowing out towards the center of the wrist flange 1 is less than the difficulty of flowing out in the reverse direction, enabling the oil storage area 5 to store lubricating oil and maintain the lubricated state within the area.

[0020] A second elastic body 103 is provided in the second groove 104. One side of the second elastic body 103 contacts the wrist flange 1, and the other side of the second elastic body 103 contacts the pressing ring 2. The second groove 104 is provided with the second elastic body 103, and the second elastic body 103 can improve the blocking effect of the second groove 104 on the lubricating oil in the oil storage area 5.

[0021] In the first embodiment, in order to reduce the processing difficulty of the wrist flange 1 and the fitting and installation difficulty between the wrist flange 1 and the pressing ring 2, only the first groove 101 is processed on one side of the bolt group 4 and the first elastic body 102 is installed. Since the installation of the first elastic body in the first groove 101 may cause a gap between the wrist flange 1 and the pressing ring 2 on the side of the bolt group 4 away from the first groove 101 during the bolt fixing installation, resulting in tilting during the bolt fixing installation. When the six-axis robot is subjected to abnormal impacts and abnormal loads, the threads on the bolt surface are easily worn and loosened. In this embodiment, the setting of the second groove 104 and the second elastic body 103 can cooperate with the first elastic body 102 to keep the two planes on both sides of the bolt group 4 flush, avoid tilting of the bolt group 4 during the fixing process, and avoid loosening or even thread wear of the bolt group 4 when the six-axis robot is subjected to abnormal impacts and abnormal loads.

[0022] Embodiment Three Combined Figure 5 、 Figure 6 and Figure 7 As shown, the difference from the first and second embodiments is that the wrist flange 1 is provided with a first oil passage 106. One end of the first oil passage 106 is connected to the outer wall of the wrist flange 1, and the other end of the first oil passage 106 is connected to the oil storage area 5. The bolt group 4 includes at least two bolts evenly distributed in a circle, and the first oil passage 106 is located between the bolts. Since the oil storage area 5 is located in the central area of the wrist flange 1, the first oil passage 106 is used to directly supply lubricating oil to the oil storage area 5, avoiding waste of lubricating oil during the supply process, and at the same time, avoiding the blocking of the lubricating oil supply by the second groove 104.

[0023] As Figure 5 shown, the groove structure includes a second oil passage 105. The second oil passage 105 is six inclined grooves provided on the outer wall surface of the cooperation between the boss 3 and the pressing ring 2. Inclined grooves are provided on the outer wall surface of the boss 3, and lubricating oil is stored in the inclined grooves. When the six-axis robot has an abnormal overload, the lubricating oil can absorb both axial impacts and torque, reducing mutual wear between the wrist flange 1 and the pressing ring 2 due to abnormal overload and vibration; the second oil passage 105 enables the first oil passage 106 of the wrist flange 1 to communicate with the surface of the internal shaft parts of the boss 3 of the wrist flange 1, facilitating lubrication of the internal shaft parts of the six-axis robot.

[0024] The present invention provides a mechanism for reducing wear of the wrist flange of a six-axis robot. By changing its structure, the completely rigid connection is transformed into a connection method with elasticity and plasticity, thereby reducing abnormal wear and extending the service life of the wrist flange 1; keeping lubricating oil between the pressure ring 2 and the wrist flange 1 to reduce the friction coefficient between components; the presence of lubricating oil between the wrist flange 1 and the pressure ring 2 can absorb the impact of abnormal clamping and collision of the external gripper; an elastomer is provided between the wrist flange 1 and the pressure ring 2 to improve the fixing reliability and assembly convenience between the wrist flange 1 and the pressure ring 2 and has the following beneficial effects: avoiding interference problems between the wrist flange 1 and the pressure ring 2 and other components caused by the groove structure, and reducing the tolerance requirements for the thickness processing of the pressure ring 2; when the fixing bolt group 4 between the wrist flange 1 and the pressure ring 2 becomes loose, the first elastomer 102 expands to keep the fixing between the wrist flange 1 and the pressure ring 2 reliable; the second oil passage 105 is used to absorb axial impact and can also absorb torsional torque, reducing mutual wear between the wrist flange 1 and the pressure ring 2 caused by abnormal overload and vibration; the second oil passage 105 enables the first oil passage 106 of the wrist flange 1 to communicate with the surface of the internal shaft parts of the boss 3 of the wrist flange 1, facilitating lubrication of the internal shaft parts of the six-axis robot.

[0025] The above embodiments and / or implementation manners are only used to illustrate the preferred embodiments and / or implementation manners for realizing the technology of the present invention, and do not impose any formal restrictions on the implementation manners of the technology of the present invention. Any person skilled in the art, without departing from the scope of the technical means disclosed in the content of the present invention, may make some modifications to other equivalent embodiments, but should still be regarded as the same technology or embodiment as the present invention in essence.

Claims

1. A six-axis robot wrist flange wear reduction mechanism, comprising a wrist flange (1) and a pressure ring (2), characterized in that, The mating surfaces of the wrist flange (1) and the pressing ring (2) are provided with a groove structure, which includes a first groove (101) and a first elastomer (102). A boss (3) that fits into the pressing ring (2) is provided at the center of the wrist flange (1). The first groove (101) surrounds the boss (3), and the first elastomer (102) is arranged in the first groove (101). One side of the first elastomer (102) contacts the wrist flange (1), and the other side of the first elastomer (102) contacts the pressing ring (2).

2. The wear reduction mechanism for the wrist flange of a six-axis robot according to claim 1, characterized in that, The first groove (101) is an annular groove, and the first elastomer (102) is an elastic sealing ring.

3. A six-axis robot wrist flange wear reduction mechanism according to claim 1, characterized in that, The wrist flange (1) is provided with a bolt group (4). The groove structure includes a second groove (104). The bolt group (4) is located between the second groove (104) and the first groove (101), and an oil storage area (5) is provided between the first groove (101) and the second groove (104).

4. A six-axis robot wrist flange wear reduction mechanism according to claim 3, characterized in that, The wrist flange (1) is provided with a first oil passage (106). One end of the first oil passage (106) is connected to the outer wall of the wrist flange (1), and the other end of the first oil passage (106) is connected to the oil storage area (5).

5. A six-axis robot wrist flange wear reduction mechanism according to claim 3 or 4, characterized in that, The inner wall of the second groove (104) near the center of the wrist flange (1) has an inclination angle, and the width of the upper part of the second groove (104) is greater than the width of the bottom part of the second groove (104).

6. A six-axis robot wrist flange wear reduction mechanism according to claim 5, characterized in that, The bolt group (4) includes at least two bolts evenly distributed in a circle, and the first oil passage (106) is located between the bolts.

7. A six-axis robot wrist flange wear reduction mechanism according to claim 1, characterized in that, The groove structure includes a second oil passage (105), and the second oil passage (105) is at least two inclined grooves arranged on the outer wall surface where the boss (3) mates with the pressing ring (2).

8. A six-axis robot wrist flange wear reduction mechanism according to claim 5, characterized in that, A second elastomer (103) is arranged in the second groove (104). One side of the second elastomer (103) contacts the wrist flange (1), and the other side of the second elastomer (103) contacts the pressing ring (2).

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