Industrial robot concentric shaft rapid centering device and rapid centering method thereof

Abstract

The invention relates to the technical field of repair of special equipment, in particular to a rapid centering device and method for a concentric shaft of an industrial robot. The industrial robot concentric shaft rapid centering device comprises an outer shaft barrel, a middle shaft barrel and an inner shaft barrel, shaft sleeve sections are arranged at the axial front ends of the outer shaft barrel, the middle shaft barrel and the inner shaft barrel, adjusting sections are arranged at the axial rear ends of the outer shaft barrel, the middle shaft barrel and the inner shaft barrel, and the outer shaft barrel, the middle shaft barrel and the inner shaft barrel are sequentially and concentrically nested and installed from outside to inside to form a centering body; the outer shaft barrel, the middle shaft barrel and the inner shaft barrel can independently rotate in the circumferential direction, three layers of shaft sleeve sections at the axial front end of the centering body can be nested with three layers of concentric shaft structures on the industrial robot in a one-to-one correspondence mode, and indicating assemblies used for indicating the deflection angles of the adjusting sections are arranged on three layers of adjusting sections at the axial rear end of the centering body. The centering device can improve the concentric shaft centering construction efficiency of the industrial robot.

Description

Technical Field

[0001] The present invention relates to the technical field of special equipment repair, and particularly to a rapid centering device for concentric shafts of industrial robots and a rapid centering method using this device. Background Art

[0002] The concentric shaft gears and bushings on industrial robots are all arranged in three layers concentrically. After new installation or repair of the concentric shaft gears and bushings, if the relative angle of any layer of gears and bushings changes, it will cause non-engagement, resulting in the failure of the installation of the three-layer concentric shaft structure.

[0003] Currently, the disassembly and replacement of the three-layer concentric shaft structure on industrial robots are mainly achieved through manual on-line centering adjustment. However, since the meshing position cannot be seen during the manual adjustment process, in order to obtain a better centering effect, a relatively long centering operation time is often required. This situation that is not conducive to the normal operation of industrial robots needs to be improved urgently. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a rapid centering device for concentric shafts of industrial robots that can improve the construction efficiency of concentric shaft centering of industrial robots.

[0005] The present invention adopts the following technical solutions:

[0006] The present invention provides a rapid centering device for concentric shafts of industrial robots, including an outer shaft cylinder, a middle shaft cylinder, and an inner shaft cylinder. The outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder are all provided with a shaft sleeve section at the front end in the axial direction and an adjustment section at the rear end in the axial direction. The outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder are concentrically nested and installed in sequence from the outside to the inside to form a centering main body. Moreover, the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder can all rotate independently in the circumferential direction. The three-layer shaft sleeve sections at the front end in the axial direction of the centering main body can be nested corresponding to the three-layer concentric shaft structures on the industrial robot one by one, and an indicating component for indicating the deflection angle of each adjustment section is provided on the three-layer adjustment sections at the rear end in the axial direction of the centering main body.

[0007] Preferably, the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder are concentrically nested and installed in a clearance fit manner to form a centering main body.

[0008] Preferably, the three-layer shaft sleeve sections at the front end in the axial direction of the centering main body are successively and progressively retracted inward from the outside to the inside in the direction approaching the rear end in the axial direction, and the three-layer adjustment sections at the rear end in the axial direction of the centering main body are successively and progressively extended outward from the outside to the inside in the direction away from the front end in the axial direction.

[0009] Preferably, serrated internal teeth are provided on the inner walls of the three-layer shaft sleeve sections at the front end in the axial direction of the centering main body.

[0010] Preferably, the three-layer adjustment sections at the rear end in the axial direction of the centering main body are all in the shape of an external hexagonal cylinder.

[0011] Preferably, the indicating component includes a pointer and an angle indicating disk. The outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder are all vertically installed with pointers along the radial direction on the adjusting section. An angle indicating disk for displaying the degrees represented by the pointer is provided on the adjusting section of the outer shaft cylinder, and the pointer on the outer shaft cylinder is relatively fixed with the angle indicating disk.

[0012] Preferably, the angle indicating disk is in a semi-circular disk shape.

[0013] Preferably, a collar is sleeved on the adjusting section of the middle shaft cylinder. A pointer and an abutting hole are provided in the radial direction of the collar. The threaded member is screwed into the abutting hole and abuts against the middle shaft cylinder.

[0014] Preferably, a pair of radially penetrating mounting holes are formed on the adjusting section of the inner shaft cylinder. The threaded member is simultaneously screwed into the two mounting holes, and the pointer is mounted on the axial end of the threaded member.

[0015] The present invention also provides an industrial robot concentric shaft rapid alignment method, which adopts the above-mentioned industrial robot concentric shaft rapid alignment device and includes the following steps:

[0016] S1: Nest the three-layer shaft sleeve section at the front end of the alignment main shaft on the industrial robot concentric shaft rapid alignment device with the three-layer concentric shaft structure to be measured one by one, and record the angle values of the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder on the indicating component.

[0017] S2: Remove the industrial robot concentric shaft rapid alignment device from the three-layer concentric shaft structure to be measured, and then nest the three-layer concentric shaft structure to be installed with the three-layer shaft sleeve section at the front end of the alignment main shaft one by one.

[0018] S3: Manually rotate the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder through the three-layer adjusting section at the rear end of the alignment main shaft until the angle values of the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder on the indicating component are the same as the previously recorded angle values.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] The industrial robot concentric shaft rapid alignment device of the present invention can be nested and engaged with the three-layer concentric shaft structure being installed and used on the industrial robot through the three-layer shaft sleeve section, so as to record the angle states of the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder corresponding to the three-layer concentric shaft structure with correct concentricity through the indicating component. Then, nest the three-layer shaft sleeve section with the three-layer concentric shaft structure to be installed, and restore the recorded angles of the outer shaft cylinder, the middle shaft cylinder, and the inner shaft cylinder by the indicating component through the three-layer adjusting section, so as to realize the alignment of the three-layer concentric shaft structure to be installed. Compared with the original manual alignment adjustment, not only the construction efficiency is high, but also the alignment effect is better.

[0021] Since the concentric axis rapid alignment method of the industrial robot of the present invention adopts the above-mentioned concentric axis rapid alignment device of the industrial robot, it naturally has the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 FIG. is a schematic diagram of the overall structure of the concentric axis rapid alignment device of the industrial robot in the embodiment of the present invention.

[0023] Figure 2 FIG. is a schematic perspective structure diagram of the concentric axis rapid alignment device of the industrial robot in the embodiment of the present invention.

[0024] Figure 3 FIG. is a schematic side structure diagram of the bushing section of the concentric axis rapid alignment device of the industrial robot in the embodiment of the present invention.

[0025] Figure 4 FIG. is a schematic side structure diagram of the adjustment section of the concentric axis rapid alignment device of the industrial robot in the embodiment of the present invention.

[0026] Among them, the description of the reference numerals is as follows:

[0027] 1. Outer shaft cylinder 6. Indicator assembly

[0028] 2. Middle shaft cylinder 61. Pointer

[0029] 3. Inner shaft cylinder 62. Angle indicator disk

[0030] 4. Bushing section 7. Collar

[0031] 5. Adjustment section DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following further details the specific embodiments of the present invention with reference to the accompanying drawings. These embodiments are only for illustrating the present invention and are not intended to limit the present invention.

[0033] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0034] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In addition, in the description of the present invention, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0036] See Figure 1 and Figure 2 , this embodiment provides an industrial robot concentric shaft quick alignment device, which includes an outer shaft cylinder 1, a middle shaft cylinder 2, and an inner shaft cylinder 3. The outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 are all provided with a sleeve section 4 at the front end in the axial direction and an adjustment section 5 at the rear end in the axial direction. The outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 are concentrically nested and installed in sequence from outside to inside to form an alignment main body, and the outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 can all rotate independently in the circumferential direction. The three-layer sleeve sections 4 at the front end in the axial direction of the alignment main body can be nested corresponding to the three-layer concentric shaft structures on the industrial robot one by one, and an indicating component 6 for indicating the deflection angle of each adjustment section is provided on the three-layer adjustment sections 5 at the rear end in the axial direction of the alignment main body.

[0037] The industrial robot concentric shaft quick alignment device of this embodiment can be nested and engaged with the three-layer concentric shaft structures being installed and used on the industrial robot through the three-layer sleeve sections 4, so as to record the angular states of the outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 corresponding to the three-layer concentric shaft structures with correct concentricity through the indicating component 6. Then, the three-layer sleeve sections 4 are nested and engaged with the three-layer concentric shaft structures to be installed, and the recorded angles of the outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 by the indicating component 6 are restored through the three-layer adjustment sections 5, so as to realize the alignment of the three-layer concentric shaft structures to be installed. Compared with the original manual alignment adjustment, not only the construction efficiency is high, but also the alignment effect is better.

[0038] Preferably, the outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 are concentrically nested and installed in a clearance fit manner to form an alignment main body. Thus, the outer shaft cylinder 1, the middle shaft cylinder 2, and the inner shaft cylinder 3 of the device are relatively independent, and can be assembled for the relative angle measurement and adjustment of one to three nested shafts, or can be disassembled and used independently for the angle measurement and adjustment of any single shaft.

[0039] The combined structure design of the industrial robot concentric shaft quick alignment device of this embodiment can be randomly combined, disassembled, and assembled by layer, which is convenient for visual installation, and can realize the independent and combined angle adjustment of one to three concentric shaft structures.

[0040] Preferably, referring to Figures 2 to 4 , the three-layer bushing section 4 at the front end of the centering main shaft is successively and progressively retracted inward from the outside to the direction close to the rear end of the shaft, so that it can be applied to various concentric shaft structures of robots. And the three-layer adjustment section 5 at the rear end of the centering main shaft extends outward progressively from the outside to the direction away from the front end of the shaft, so that it is convenient for the operator to manually adjust any one layer of the adjustment section 5 individually to change the relative angles of the outer shaft cylinder 1, the middle shaft cylinder 2 and the inner shaft cylinder 3.

[0041] Preferably, referring to Figure 3 , serrated internal teeth are provided on the inner walls of the three-layer bushing section 4 at the front end of the centering main shaft. The serrated internal teeth have good versatility, so that the concentric shaft quick centering device of the industrial robot in this embodiment can be applied to concentric shaft structures of various tooth shapes.

[0042] Preferably, referring to Figure 4 , the three-layer adjustment section 5 at the rear end of the centering main shaft is in the shape of an external hexagonal cylinder, so that it is convenient for the operator to quickly adjust the three-layer adjustment section 5 through a manual tool such as a wrench.

[0043] Preferably, referring to Figure 1 and Figure 4 , the indicating component 6 includes a pointer 61 and an angle indicating disk 62. The outer shaft cylinder 1, the middle shaft cylinder 2 and the inner shaft cylinder 3 are all vertically installed with pointers 61 along the radial direction on the adjustment section 5, and an angle indicating disk 62 for displaying the degrees represented by the pointer 61 is provided on the adjustment section 5 of the outer shaft cylinder 1. The pointer 61 on the outer shaft cylinder 1 is relatively fixed with the angle indicating disk 62.

[0044] When the indicating component 6 is in use, based on the pointer 61 on the outer shaft cylinder 1, there is a difference between the pointers 61 on the middle shaft cylinder 2 and the inner shaft cylinder 3 and the pointer 61 on the outer shaft cylinder 1. This difference can be obtained with reference to the angle indicating disk 62. When recording the angle states of the outer shaft cylinder 1, the middle shaft cylinder 2 and the inner shaft cylinder 3 corresponding to the three-layer concentric shaft structure with correct concentricity, the deviation values of the pointers 61 on the middle shaft cylinder 2 and the inner shaft cylinder 3 relative to the pointer 61 on the outer shaft cylinder 1 can be directly recorded, which is simple and convenient.

[0045] Preferably, referring to Figure 1 and Figure 4 , the angle indicating disk 62 is in the shape of a semi-circular disk, so as to reduce the overall space occupation of the device and facilitate placement.

[0046] Preferably, referring to Figure 2 and Figure 4, a collar 7 is sleeved on the adjustment section 5 of the central shaft tube 2. A pointer 61 and a butting hole are arranged in the radial direction of the collar 7. A threaded part is screwed in the butting hole and abuts against the central shaft tube 2. With this design form of the pointer 61 on the central shaft tube 2, it can ensure the normal function of the indicating component 6 without affecting the combination and disassembly among the outer shaft tube 1, the central shaft tube 2 and the inner shaft tube 3.

[0047] Preferably, referring to Figure 2 and Figure 4 , a pair of radially penetrating mounting holes are formed in the adjustment section 5 of the inner shaft tube 3. The threaded part is simultaneously screwed in the two mounting holes, and the pointer 61 is mounted on the axial end of the threaded part. The design form of the pointer 61 on the inner shaft tube 3 is the same as the purpose to be achieved by the design form of the pointer 61 on the central shaft tube 2, which will not be elaborated here.

[0048] The structure form of the concentric shaft rapid alignment device of the industrial robot in this embodiment is simple and reliable, and can be popularized in the replacement project of the concentric shaft structure of the industrial robot. In the booming field of robot applications, it has great promotion significance for improving labor efficiency, reducing personnel input and consumption, and ensuring the quality and safety of project implementation. Therefore, the prospect of popularization and application is very good.

[0049] This embodiment also provides an industrial robot concentric shaft rapid alignment method, which adopts the above-mentioned industrial robot concentric shaft rapid alignment device, and includes the following steps, in combination with Figures 1 to 4 :

[0050] S1: Nest the three-layer shaft sleeve section 4 at the front end of the alignment main shaft of the industrial robot concentric shaft rapid alignment device with the three-layer concentric shaft structure to be measured one by one, and record the angular values of the outer shaft tube 1, the central shaft tube 2 and the inner shaft tube 3 on the indicating component 6;

[0051] S2: Remove the industrial robot concentric shaft rapid alignment device from the three-layer concentric shaft structure to be measured, and then nest the three-layer concentric shaft structure to be installed with the three-layer shaft sleeve section 4 at the front end of the alignment main shaft one by one;

[0052] S3: Manually rotate the outer shaft tube 1, the central shaft tube 2 and the inner shaft tube 3 through the three-layer adjustment section 5 at the rear end of the alignment main shaft until the angular values of the outer shaft tube 1, the central shaft tube 2 and the inner shaft tube 3 on the indicating component 6 are the same as the angular values recorded previously.

[0053] After step S3, the alignment of the three-layer concentric shaft structure to be installed is completed, and the installed three-layer concentric shaft structure can be installed according to the steps subsequently.

[0054] It should be noted that when using the industrial robot concentric shaft rapid alignment method of this embodiment for alignment operation, the on-site construction conditions and relevant safety measures should be implemented in place.

[0055] The concentric axis rapid alignment method of the industrial robot in this embodiment adjusts the relative angle of the concentric axis structure through the above-mentioned concentric axis rapid alignment device of the industrial robot, so that the alignment construction efficiency is greatly improved; at the same time, due to the pre-alignment adjustment of this method, it is also possible to avoid the concentric adjustment of the three-layer concentric axis structure of the industrial robot during the installation process, and the safety and installation success rate are greatly improved.

[0056] The above-mentioned concentric axis rapid alignment device of the industrial robot and the concentric axis rapid alignment method of the industrial robot have both been implemented in the annual overhaul project of 3CC in the first steelmaking plant, and good application effects have been achieved.

[0057] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A device for rapid centering of coaxial axes of industrial robots, characterized in that: The invention comprises an outer shaft cylinder (1), a middle shaft cylinder (2) and an inner shaft cylinder (3); the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) are all provided with a shaft sleeve section (4) at the axial front end and an adjustment section (5) at the axial rear end; the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) are concentrically nested and installed in sequence from the outside to the inside to form a centering body; the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) are all capable of independently rotating in the circumferential direction; the three-layer shaft sleeve section (4) at the axial front end of the centering body can be nested in a one-to-one correspondence with the three-layer concentric shaft structure on the industrial robot; the three-layer adjustment section (5) at the axial rear end of the centering body is provided with an indication component (6) for indicating the deflection angle of each adjustment section (5).

2. The industrial robot concentric axis rapid centering device according to claim 1, characterized in that: The outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) are coaxially nested and installed in a clearance-fitting manner to form the centering body.

3. The industrial robot concentric axis rapid centering device according to claim 1, characterized in that: The three-layer sleeve section (4) at the axial front end of the centering body is progressively retracted from the outside to the inside toward the axial rear end, and the three-layer adjustment section (5) at the axial rear end of the centering body is progressively extended from the outside to the inside away from the axial front end.

4. The industrial robot concentric axis rapid centering device according to claim 3, characterized in that: The inner walls of the three-layer shaft sleeve section (4) at the axial front end of the centering body are all provided with sawtooth-shaped internal teeth.

5. The industrial robot concentric axis rapid centering device according to claim 3, characterized in that: The three-layer adjustment section (5) at the axial rear end of the centering body is all in the shape of an outer hexagonal tube.

6. The industrial robot concentric axis rapid centering device according to claim 5, characterized in that: The indicating assembly (6) comprises a pointer (61) and an angle indicating disk (62); the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) are all provided with the pointer (61) vertically mounted along the radial direction on the adjusting section (5); and the adjusting section (5) of the outer shaft cylinder (1) is provided with the angle indicating disk for displaying the degree represented by the pointer (61); the pointer (61) on the outer shaft cylinder (1) and the angle indicating disk (62) are kept relatively fixed.

7. The industrial robot concentric axis rapid centering device according to claim 6, characterized in that: The angle indicating disc (62) is in the shape of a semicircular disc.

8. The industrial robot concentric axis rapid centering device according to claim 6, characterized in that: A collar (7) is sleeved on the adjusting section (5) of the central axis tube (2), a pointer (61) and an abutment hole are provided in the radial direction of the collar (7), and a threaded member is screwed into the abutment hole and abuts against the central axis tube (2).

9. The industrial robot concentric axis rapid centering device according to claim 6, characterized in that: A pair of radially penetrating mounting holes are provided on the adjusting section (5) of the inner shaft cylinder (3), the threaded member is screwed into the two mounting holes at the same time, and the pointer (61) is mounted on one axial end of the threaded member.

10. A method for rapid centering of the coaxial axes of an industrial robot, characterized in that: The industrial robot concentric axis rapid centering device according to any one of claims 1 to 9 is used, and comprises the following steps: S1: The three-layer shaft sleeve section (4) at the axial front end of the centering body on the industrial robot coaxial shaft rapid centering device is nested in correspondence with the three-layer coaxial shaft structure to be measured, and the angle values ​​of the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) on the indicating component (6) are recorded; S2: removing the industrial robot concentric shaft rapid centering device from the three-layer concentric shaft structure to be measured, and then nesting the three-layer concentric shaft structure to be installed with the three-layer shaft sleeve segment (4) at the axial front end of the centering body in a one-to-one correspondence; S3: Manually rotate the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) through the three-layer adjustment section (5) at the rear end of the centering body axis until the angle values ​​of the outer shaft cylinder (1), the middle shaft cylinder (2) and the inner shaft cylinder (3) on the indicating assembly (6) are the same as the angle values ​​previously recorded.

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