Oil receiving tray jig and industrial robot

Abstract

The invention discloses an oil receiving tray jig and an industrial robot, the oil receiving tray jig comprises an oil receiving tray used for receiving lubricating oil leaked by the industrial robot, and the oil receiving tray comprises a bottom plate and a side wall formed by bending the edge of the bottom plate; and the hanging frame is used for detachably connecting the oil receiving tray to the industrial robot so that the oil receiving tray can be located below the industrial robot. According to the oil receiving disc jig, oil can be prevented from dripping below the industrial robot, a robot body does not need to be changed at all, and the action function of the industrial robot cannot be affected after the oil receiving disc jig is used.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and more specifically, to an oil pan fixture and an industrial robot. Background Art

[0002] Industrial robots are mechanical and electronic devices that anthropomorphize the functions of arms, wrists, and hands. Conventional industrial robots consist of mutually articulated components, which are driven by drive components to move and achieve the function of grasping or moving objects. The drive components include motors and reducers. When working, the motor rotates to drive the reducer to stir the lubricating grease inside it, while generating a lot of heat, which liquefies the lipid grease in the reducer into liquid grease. After long-term use and wear, the reducer's seals may fail, and the lubricating oil inside the reducer will flow out through the gaps on the robot, dripping onto the surface of the product grasped by the robot, causing contamination to the product. Summary of the invention

[0003] The object of the present invention is to provide an oil receiving pan fixture and an industrial robot for preventing lubricating oil inside an industrial robot from dripping onto a product surface.

[0004] According to one aspect of the present invention, there is provided an oil pan fixture, comprising:

[0005] An oil receiving pan, used to receive the lubricating oil leaked from the industrial robot, the oil receiving pan comprising a bottom plate and side walls formed by bending the edges of the bottom plate;

[0006] The hanging bracket is used to detachably connect the oil receiving pan to the industrial robot so that the oil receiving pan is located below the industrial robot.

[0007] Optionally, a surface of the bottom plate close to the industrial robot is provided with a plurality of rubber strips.

[0008] Optionally, the bottom plate surface is provided with a plurality of reinforcing ribs, and the reinforcing ribs are formed by protrusions on the bottom plate surface.

[0009] Optionally, the hanger includes a plurality of U-shaped clamps, and both ends of the clamps are connected to the oil receiving pan via a snap structure or screws.

[0010] Optionally, the hanger further includes a crossbeam, which connects the plurality of clamps to form a whole.

[0011] Optionally, the snap structure includes a hook fixedly connected to the oil pan, a fixing portion fixedly connected to the clamp, a pull portion rotatably connected to the fixing portion, and a tension spring connected to the pull portion, one end of the tension spring being snapped to the hook.

[0012] Optionally, a locking screw is further provided on the fixing portion, and the locking screw is used to fix the pulling portion and the fixing portion.

[0013] According to another aspect of the present invention, an industrial robot is provided, comprising the above-mentioned oil pan fixture, and a first arm and a second arm, wherein the second arm is hinged to the first arm, the second arm comprises a shell and a reducer arranged inside the shell, the output shaft of the reducer is connected to the first arm for driving the first arm to rotate; the oil pan is detachably arranged below the shell of the second arm through the bracket.

[0014] Optionally, a transparent first observation window is provided on the housing of the second arm corresponding to the reducer, and a second observation window is provided on the bottom plate of the oil receiving pan corresponding to the first observation window.

[0015] Optionally, a plurality of limit blocks are provided on the surface of the side wall close to the second arm housing, and the limit blocks abut against the surface of the second arm housing to form a gap between the side wall and the surface of the second arm housing.

[0016] The beneficial effects of the present invention are as follows:

[0017] The oil receiving pan fixture of the present invention receives the lubricating oil leaked from the reducer in the mechanical arm of the industrial robot through the oil receiving pan, thereby preventing the oil from dripping onto the surface of the product below the industrial robot and causing contamination to the product. The oil receiving pan is detachably arranged under the mechanical arm through a hanging bracket, and no modification is required to the robot body, and the action function of the industrial robot itself will not be affected after use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0019] Figure 1 A schematic structural diagram of the present invention is shown.

[0020] Figure 2 The schematic structural diagram of the oil receiving pan of the present invention is shown.

[0021] Figure 3 A schematic structural diagram of an oil receiving pan fixture of the present invention is shown.

[0022] Figure 4 A partial enlarged view of the oil receiving pan fixture of the present invention is shown.

[0023] Figure 5 A schematic structural diagram of an oil receiving pan according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0025] In the description of the present disclosure, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In the disclosure, unless otherwise clearly specified and limited, a first feature being “on” or “under” a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature therebetween.

[0027] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0028] Since the existing Sankyo Robot was installed early and has a long operating cycle, it is inevitable that the reducers of each axis will be damaged or leak oil. At the same time, because there are many devices and the base number of oil-leaking reducers is large, replacing all of these reducers will result in high spare parts procurement costs and a short reducer life cycle. In addition, due to the special position of the upper arm reducer, the leaked oil from the reducer will drip onto the surface of the display module on the production line under the action of gravity, causing damage to the product. The oil leakage will directly affect the process production of the display module.

[0029] Based on this, Figures 1 to 5 As shown, an embodiment of the present disclosure provides an industrial robot, including a first arm 10, a second arm 20 and an oil pan fixture 30, wherein the first arm 10 is hinged to the second arm 20, the second arm 20 includes a shell and a reducer arranged in the shell, and the output shaft of the reducer is connected to the first arm 10, thereby being able to drive the first arm 10 to rotate.

[0030] Industrial robots are specifically used to repeatedly perform exactly the same task in a controlled environment. For example, the industrial robot disclosed herein can translate or flip a display module on a production line, and the first arm 10 and the second arm 20 only move in a horizontal plane.

[0031] It is understandable that an action execution mechanism may be provided on the first arm 10 to grasp the product, or other arms may be provided on the first arm 10 to realize an industrial robot with multiple joints and multiple degrees of freedom. When the industrial robot has a multi-joint structure, an oil pan fixture 30 may be provided at each joint.

[0032] After long-term use, the seal inside the reducer has a problem of failure, and the lubricating oil leaks outward and flows to the surface of the second arm 20 through the gap on the housing. In order to prevent the oil from dripping onto the surface of the product below the second arm 20, an oil receiving pan fixture 30 is arranged below the housing of the second arm 20 to receive the oil drops. The oil receiving pan fixture 30 disclosed in the present invention does not require any modification to the robot body, and will not affect the action function of the industrial robot itself after use.

[0033] The oil pan fixture 30 includes an oil pan 31 and a hanger 32. The oil pan 31 is arranged below the housing of the second arm 20 to receive the lubricating oil leaked from the reducer. The hanger 32 is used to detachably attach the oil pan 31 to the lower surface of the housing of the second arm 20. The oil pan 31 is generally a flat plate structure, and its width should be greater than the width of the housing of the second arm 20. The two side edges of the oil pan 31 are respectively located on the outside of the housing of the second arm 20, and the other end 311 of the oil pan 31 is located on the outside of the end of the housing of the second arm 20, that is, the end of the second arm 20 provided with the reducer should be arranged close to the center of the oil pan 31, and the joint between the second arm 20 and the first arm 10 is located above the oil pan 31.

[0034] Since the second arm 20 always moves in the horizontal plane, the oil receiving pan 31 located on the lower surface of the second arm 20 shell also moves only in the horizontal plane, so that the oil receiving pan 31 can receive the oil dripping from above it and prevent the oil leaking from the second arm 20 from dripping onto the product surface below.

[0035] like Figure 2As shown, the oil receiving pan 31 includes a bottom plate 312 and a side wall 313 formed by bending the edge of the bottom plate 312. Since the side wall 313 protrudes from the surface of the bottom plate 312, the side wall 313 can block the flow of oil dripping onto the surface of the bottom plate 312, thereby retaining the oil on the surface of the bottom plate 312. The side wall 313 is not provided at the other end of the bottom plate 312 relative to the end 311, or the height of the side wall 313 at the side end is smaller than the height of the other side walls 313. The other side walls 313 are located outside the shell of the second arm 20. The side end is close to the center of the second arm 20 and fits with the shell surface of the second arm 20, so that the side wall 313 will not interfere with the contact between the bottom plate 312 and the shell of the second arm 20, so that the bottom plate 312 can fit with the shell of the second arm 20.

[0036] The housing of the second arm 20 is provided with a first observation window made of a transparent material, and the first observation window is arranged below the reducer. The bottom plate 312 of the oil receiving pan 31 is provided with a second observation window 314, and the second observation window 314 can be covered with a transparent material. After the oil receiving pan 31 is installed on the lower surface of the housing of the second arm 20, the second observation window 314 is located below the first observation window. Therefore, the operator can still observe the reducer inside the housing of the second arm 20 through the second observation window 314 and the first observation window, avoiding the problem that the oil receiving pan 31 blocks the observation window on the housing of the second arm 20 and the internal situation of the second arm 20 cannot be viewed.

[0037] In one example, the second observation window 314 is a through hole, and no transparent material is disposed on it. In order to prevent oil from dripping from the second observation window 314, a circle of sealing tape can be disposed along the edge of the second observation window 314, and after the bottom plate 312 is attached to the shell of the second arm 20, the sealing tape is attached to the shell of the second arm 20, thereby sealing the second observation window 314, and preventing the oil on the bottom plate 312 from entering the second observation window 314, and then dripping from the second observation window 314 to the product under the second arm 20.

[0038] In one example, a surface of the bottom plate 312 close to the shell of the second arm 20 is provided with a plurality of spaced apart rubber strips 315, and the bottom plate 312 is in contact with the shell surface of the second arm 20 through the rubber strips 315. Since the bottom plate 312 is not in contact with the shell surface of the second arm 20 and the rubber strips 315 are made of soft material, the bottom plate 312 will not scratch the surface of the shell of the second arm 20, and the rubber strips 315 can play a protective and buffering role.

[0039] In one example, the surface of the bottom plate 312 is provided with a plurality of reinforcing ribs 316, which are formed by protrusions from the surface of the bottom plate 312. The reinforcing ribs 316 can improve the strength of the bottom plate 312 and prevent the bottom plate 312 from being deformed. Furthermore, since a through hole is provided on the bottom plate 312 and a transparent material is attached to the through hole to form the second observation window 314, the strength of the bottom plate 312 at this location is relatively low. The reinforcing ribs 316 are arranged around the second observation window 314 to improve the strength of the bottom plate 312 at this location.

[0040] When the oil receiving pan 31 is processed and manufactured, the oil receiving pan 31 can be directly formed by stamping a thin steel plate. The stamping process can be used to form the bottom plate 312, the side wall 313, the through hole of the second observation window 314 and the reinforcing ribs 316 at one time, thereby reducing the processing steps and improving production efficiency.

[0041] In one example, if Figure 3 As shown, the oil pan fixture 30 includes an oil pan 31 and a hanger 32. The hanger 32 includes a plurality of U-shaped clamps 321. The plurality of clamps 321 are evenly spaced, and the two ends of each clamp 321 are connected to the oil pan 31 by a buckle structure or screws. The clamp 321 is connected to the oil pan 31 by the buckle structure or screws, which facilitates the disassembly and assembly of the oil pan 31. In order to avoid the opening changing the body structure and prevent the oil pan fixture 30 from interfering with the body, a structure similar to a clamp is used to fix the hanger 32 on the second arm 20, which can reduce the difficulty of processing and installation and realize the fixing function.

[0042] The U-shaped clamp 321 passes through the upper part of the second arm 20 shell and is connected to the oil receiving pan 31 located below the second arm 20 shell, so that the oil receiving pan 31 is fixedly attached to the lower surface of the shell of the second arm 20. The clamp 321 is made of a thin sheet of steel strip, and its shape corresponds to the shape of the shell of the second arm 20, so that the clamp 321 fits the shell surface of the second arm 20 as much as possible, avoiding the movement of the first arm 10 and the second arm 20 being affected by adding foreign objects on the outer side of the second arm 20.

[0043] In one example, the bracket 32 ​​further includes a crossbeam 322, which is connected to each clamp 321, so that the multiple clamps 321 are connected to form a whole. The multiple clamps 321 are arranged in parallel and spaced apart, and the crossbeam 322 is located above the housing of the second arm 20 and penetrates each clamp 321, so that the multiple separated clamps 321 are connected to the whole. Since the multiple clamps 321 are all connected to the crossbeam 322, the distance between each clamp 321 is fixed, which facilitates the connection of the clamp 321 with the oil receiving pan 31.

[0044] When manufacturing the hanger 32 , the clamp 321 and the crossbeam 322 can be directly formed by stamping a thin steel plate, and then the straight clamp 321 is bent into a U-shape, and finally a snap-fit ​​structure is formed at the end of the clamp 321 .

[0045] In one example, if Figure 4 A partial enlarged view of the snap-fit ​​structure is shown, which includes a hook 317, a fixing portion 323, a pulling portion 324 and a tension spring 325. The hook 317 is fixedly connected to the side wall 313 of the oil receiving pan 31. The fixing portion 323 is generally U-shaped and fixedly connected to the end of the clamp 321. The pulling portion 324 is rotatably connected to the fixing portion 323, so that the pulling portion 324 can rotate relative to the end of the clamp 321. One end of the tension spring 325 is connected to the hook 317, and the other end is connected to the pulling portion 324.

[0046] exist Figure 4 In the state shown, the clamp 321 is connected to the oil receiving pan 31. In this state, the pull portion 324 is engaged with the fixed portion 323, and the tension spring 325 is in a stretched state, applying a pulling force to the hook 317, so that the clamp 321 pulls the oil receiving pan 31 toward the shell direction of the second arm 20, and then the oil receiving pan 31 can be attached to the lower surface of the shell of the second arm 20.

[0047] When the oil receiving pan 31 needs to be removed from the second arm 20, the operator pulls the pull portion 324 to rotate, and the upper portion of the pull portion 324 moves in a direction away from the fixing portion 323. At this time, the tension spring 325 contracts, and finally, one end of the tension spring 325 is separated from the hook 317. Thus, the oil receiving pan 31 is separated from the clamp 321, and the oil receiving pan 31 can be removed from the second arm 20.

[0048] In one example, there are two tension springs 325, which are respectively located on both sides of the pull portion 324. One end of the tension spring 325 is connected to the surface of the pull portion 324 near the top, and the bottom end of the pull portion 324 is rotatably connected to the fixing portion 323 via a rotating shaft. The other ends of the two tension springs 325 are respectively connected to the two ends of a cross bar, and the cross bar is used to connect with the hook 317. The hoop 321 is connected to the oil receiving pan 31 through the two tension springs 325, and a large pulling force can be applied to the oil receiving pan 31, so that the contact between the oil receiving pan 31 and the housing of the second arm 20 is more secure.

[0049] By connecting the clamp 321 and the oil pan 31 with the tension spring 325, the versatility of the oil pan fixture 30 can be improved, so that it can be applied to the second arms 20 of different thicknesses. In addition, the cooperation between the pull part 324 and the tension spring 325 can also achieve a certain self-locking function, improving the connection reliability between the clamp 321 and the oil pan 31. By utilizing the elasticity of the tension spring 325, the oil pan fixture 30 can be installed with a certain force to cling to the body without damaging the coating on the surface of the body, further improving the versatility for different models of bodies; at the same time, the self-locking function of the pull part 324 and the tension spring 325 can prevent the lock from opening during use, causing the loss of the oil collection function or interference with the body.

[0050] The end of the clamp 321 can also be connected to the oil pan 31 by bolts. In this structure, a connecting boss 318 is provided on the oil pan 31, and a threaded hole is provided on the connecting boss 318. A through hole is provided at the end of the clamp 321. The bolt is passed through the through hole and connected to the threaded hole on the connecting boss 318 to realize the connection between the clamp 321 and the oil pan 31.

[0051] It should be noted that the two methods of connecting the clamp 321 to the oil receiving pan 31 via a snap-fit ​​structure or bolts can coexist, that is, multiple clamps 321 are connected to the oil receiving pan 31 via a snap-fit ​​structure, and the remaining clamps 321 are connected to the oil receiving pan 31 via bolts.

[0052] In one example, a locking screw 326 is further provided on the fixed portion 323, and the locking screw 326 can be rotatably set on the fixed portion 323. When the pulling portion 324 is engaged with the fixed portion 323, the locking screw 326 can be threadedly connected with the pulling portion 324, so as to fix the pulling portion 324 to the fixed portion 323, thereby preventing the pulling portion 324 from rotating, thereby preventing the end of the tension spring 325 from separating from the oil receiving pan 31, and preventing the oil receiving pan 31 from detaching from the second arm 20 due to the vibration of the second arm 20.

[0053] This structure is to prevent the situation where the lock is not installed properly or the self-locking check is not done during installation. Therefore, a hand-tightened locking screw 326 is added to the lock. When the pull part 324 is not moved to the correct position, the locking screw 326 cannot be threadedly connected with the pull part 324, and the locking screw can play a secondary anti-mistake role; the pull part 324 and the locking screw 326 are manually operated, and the oil pan 31 can be disassembled and installed without the aid of any tools during maintenance, which greatly improves work efficiency.

[0054] like Figure 2As shown, the oil receiving pan 31 is further provided with a plurality of limit blocks 318, specifically, the limit blocks 318 are provided on a side surface of the side wall 313 close to the housing of the second arm 20. When the oil receiving pan 31 is mounted on the second arm 20, the limit blocks 318 abut against the housing of the second arm 20, so that there is a gap between the side wall 313 and the housing of the second arm 20.

[0055] The width of the oil receiving pan 31 is greater than the width of the second arm 20 housing, and the distance between the relatively arranged limit blocks 318 is slightly greater than the width of the second arm 20 housing, so that the housing of the second arm 20 can be located between the two limit blocks 318, so that the side wall 313 on the oil receiving pan 31 is located outside the second arm 20, and the second arm 20 is located in the center of the oil receiving pan 31. Therefore, when the oil drips from the gap of the second arm 20 housing, it can be received by the oil receiving pan 31 to prevent the oil from dripping onto the product under the second arm 20.

[0056] In one example, if Figure 5 The schematic diagram of the structure of the oil receiving pan 31 of another embodiment is shown. The difference between the oil receiving pan 31 of this embodiment and the previous embodiment is that a plurality of through holes 319 are provided on the bottom plate 312, and the plurality of through holes 319 correspond to the threaded holes on the housing of the second arm 20. When installing, the lower housing of the housing of the second arm 20 needs to be removed, and the oil receiving pan 31 replaces the lower housing and is installed on the housing of the second arm 20, thereby achieving the function of receiving oil drops. In this structure, the bolts connecting the oil receiving pan 31 and the second arm 20 act as the bracket 32, thereby achieving the function of fixing the oil receiving pan 31 to the housing of the second arm 20.

[0057] It should be noted that an annular sealing gasket 320 is provided on the bottom plate 312 around the plurality of through holes 319 to achieve sealing of the housing of the second arm 20 .

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. An oil pan fixture, characterized in that: include: An oil receiving pan, used to receive the lubricating oil leaked from the industrial robot, the oil receiving pan comprising a bottom plate and side walls formed by bending the edges of the bottom plate; The hanging bracket is used to detachably connect the oil receiving pan to the industrial robot so that the oil receiving pan is located below the industrial robot.

2. The oil pan fixture according to claim 1, characterized in that: A plurality of rubber strips are arranged on the surface of the bottom plate close to the industrial robot.

3. The oil pan fixture according to claim 1, characterized in that: The bottom plate surface is provided with a plurality of reinforcing ribs, and the reinforcing ribs are formed by protrusions on the bottom plate surface.

4. The oil pan fixture according to claim 1, characterized in that: The hanger includes a plurality of U-shaped clamps, and two ends of the clamps are respectively connected to the oil receiving pan through a snap structure or screws.

5. The oil pan fixture according to claim 4, characterized in that: The hanger also includes a crossbeam, which connects the plurality of clamps to form a whole.

6. The oil pan fixture according to claim 4, characterized in that: The buckle structure includes a hook fixedly connected to the oil receiving pan, a fixing portion fixedly connected to the clamp, a pull portion rotatably connected to the fixing portion, and a tension spring connected to the pull portion, one end of the tension spring being clamped to the hook.

7. The oil pan fixture according to claim 6, characterized in that: The fixing part is also provided with a locking screw, and the locking screw is used to fix the pulling part and the fixing part.

8. An industrial robot, characterized in that: It comprises an oil pan fixture as described in any one of claims 1 to 7, and a first arm and a second arm, wherein the second arm is hinged to the first arm, the second arm comprises a shell and a reducer arranged inside the shell, the output shaft of the reducer is connected to the first arm for driving the first arm to rotate; the oil pan is detachably arranged below the second arm shell through the bracket.

9. The industrial robot according to claim 8, characterized in that: A transparent first observation window is arranged on the housing of the second arm corresponding to the reducer, and a second observation window is arranged on the bottom plate of the oil receiving pan corresponding to the first observation window.

10. The industrial robot according to claim 8, characterized in that: A plurality of limit blocks are provided on the surface of the side wall close to the second arm housing, and the limit blocks abut against the surface of the second arm housing so that a gap exists between the side wall and the surface of the second arm housing.

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