Robot transmission phase calibration device and method

Abstract

The invention belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot assembly, and particularly relates to a robot transmission phase calibration device and method. The calibration device is used for calibrating the assembly phase of a speed reducer input gear and a gear of an RV speed reducer and comprises a simulation rotating shaft, a simulation flange and a wrench, the simulation flange is installed at the input installation end of a casting on the outer side of the RV speed reducer, the calibration speed reducer input gear is installed at the end of the simulation rotating shaft, and the simulation rotating shaft penetrates through a center hole of the simulation flange. The speed reducer input gear is in contact with the internal transmission gear of the RV speed reducer, the simulation rotating shaft is rotated through the wrench, teeth of the speed reducer input gear and meshing grooves of the internal transmission gear of the RV speed reducer are inserted and installed in a blind mode, and therefore the gear assembly phase is calibrated. The meshing of the input gear of the speed reducer and the transmission gear in the speed reducer is completed in the limited operation space of the operation blind area in the speed reducer, in-phase assembly is achieved, and the assembly efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of the assembly of six-degree-of-freedom vertical multi-joint industrial robots, and particularly relates to a robot transmission phase calibration device and method. Background Art

[0002] At present, six-degree-of-freedom vertical multi-joint industrial robots are widely used in the industrial manufacturing field. In order to pursue the optimization of the appearance and the internal space of the casting, the distance between the inner side wall of the casting and the side wall of the servo motor is getting closer and closer. Also, since the input gear of the reducer is installed on the output shaft of the servo motor, the assembly of the input gear of the reducer and the internal transmission gear of the reducer is completed in the limited working space of the blind area inside the reducer. As a result, it is impossible to achieve the same-phase assembly adjustment between the input gear of the reducer and the internal transmission gear of the reducer. The same-phase assembly means that the teeth of the input gear of the reducer installed on the output shaft of the servo motor correspond to the tooth grooves of the internal transmission gear of the reducer, so that the teeth of the input gear of the reducer can be axially inserted into the tooth grooves of the internal transmission gear of the reducer to achieve the effect of meshing between the teeth of the input gear of the reducer and the internal transmission gear of the reducer. Therefore, there is an urgent need for a robot transmission phase calibration device and method. Summary of the Invention

[0003] Aiming at the above problems, the purpose of the present invention is to provide a robot transmission phase calibration device and method to achieve the meshing between the input gear of the reducer and the internal transmission gear of the RV reducer in the limited working space of the blind area inside the reducer and realize the same-phase assembly.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] On the one hand, the present invention provides a robot transmission phase calibration device for calibrating the gear assembly phase between the input gear of the reducer and the gear of the RV reducer. The tooling includes a simulation rotating shaft, a simulation flange, and a wrench. The simulation flange is installed at the input installation end of the casting outside the RV reducer. The end of the simulation rotating shaft is installed with the calibration input gear of the reducer. The simulation rotating shaft passes through the central hole of the simulation flange, so that the input gear of the reducer contacts with the internal transmission gear of the RV reducer. By rotating the simulation rotating shaft with the wrench, the teeth of the input gear of the reducer are inserted into the meshing grooves of the internal transmission gear of the RV reducer for blind installation, thereby calibrating the gear assembly phase.

[0006] The simulation rotating shaft is of a stepped shaft structure. The lower end of the simulation rotating shaft is connected to the input gear of the reducer through a key and then axially connected through a screw. A groove for wrench operation is provided on the upper end surface of the simulation rotating shaft.

[0007] A calibration hole is provided on the positioning plane for positioning the simulated rotating shaft and the simulated flange, and a positioning hole is provided on the simulated flange; when the calibration hole is aligned with the positioning hole on the simulated flange, the calibration of the gear assembly phase is completed.

[0008] A bearing I and a bearing II are respectively installed on the input gear of the speed reducer and the simulated rotating shaft. The inner ring of the bearing I is axially limited by a snap ring I, and the inner ring of the bearing II is axially limited by a snap ring II.

[0009] A plurality of connecting holes are evenly distributed along the circumference on the simulated flange, and the plurality of connecting holes are connected to the casting by bolts.

[0010] On the other hand, the present invention provides a calibration method using the robot transmission phase calibration device as described above, including the following steps:

[0011] Step S1: Install the robot transmission phase calibration device on the input installation end of the casting of the RV speed reducer;

[0012] Step S2: Make the gear end faces of the input gear of the force-sensing speed reducer and the internal transmission gear fit together. Rotate the simulated rotating shaft with a wrench. After the gap between the teeth of the input gear of the force-sensing speed reducer and the meshing groove of the internal transmission gear, insert the teeth of the input gear of the speed reducer into the meshing groove of the internal transmission gear to complete the blind installation of the input gear of the speed reducer and the internal transmission gear of the RV speed reducer; Rotate the simulated rotating shaft to align a calibration hole on the simulated rotating shaft with the positioning hole on the simulated flange to achieve gear assembly phase calibration;

[0013] Step S3: Remove the robot transmission phase calibration device;

[0014] Step S4: Install the motor with the input gear of the speed reducer on the input installation end of the casting;

[0015] Step S5: Make the gear end faces of the input gear of the force-sensing speed reducer and the internal transmission gear fit together. Rotate the tail of the motor. After the gap between the teeth of the input gear of the force-sensing speed reducer and the meshing groove of the internal transmission gear, insert the teeth of the input gear of the speed reducer into the meshing groove of the internal transmission gear to complete the blind installation of the input gear of the speed reducer and the internal transmission gear of the RV speed reducer. Rotate the motor to align the positioning hole on the motor flange with the installation hole on the casting;

[0016] Step S6: Lock the motor on the casting.

[0017] In step S1, the installation process of the robot transmission phase calibration device includes the following steps:

[0018] Step M1: Install the simulated flange on the casting;

[0019] Step M2: Install the input gear of the reducer at the end of the simulated rotating shaft. Bearing I and Bearing II are respectively installed on the input gear of the reducer and the simulated rotating shaft.

[0020] Step M3: Pass the simulated rotating shaft through the central hole of the simulated flange so that the lower end face of the input gear of the reducer contacts the upper end face of the internal transmission gear.

[0021] In Step S2, the angle range for rotating the simulated rotating shaft by the wrench is ±9°.

[0022] In Step S5, the rotation angle of the motor is ±3.73°.

[0023] The advantages and beneficial effects of the present invention are as follows: The present invention provides a robot transmission phase calibration device and method, which realizes the meshing of the input gear of the reducer and the internal transmission gear of the reducer in the limited working space of the operation blind area inside the reducer, realizes the same-phase assembly, has a compact axial space of the gear, and high assembly efficiency; it can easily complete the assembly under the condition that the outer contour of the motor is close to the inner wall size of the casting. Brief Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the working state of a robot transmission phase calibration device of the present invention;

[0025] Figure 2 It is an axonometric view of the working state of a robot transmission phase calibration device of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of a six-degree-of-freedom vertical multi-joint industrial robot assembled by using a robot transmission phase calibration device of the present invention.

[0027] In the figure: 1 - casting, 101 - inner cavity side wall, 102 - limited working space, 2 - RV reducer, 201 - internal transmission gear of the reducer, 202 - upper tooth surface, 3 - input gear of the reducer, 301 - lower tooth surface, 4 - Bearing I, 5 - snap ring I, 6 - screw, 7 - motor, 701 - motor side, 8 - simulated rotating shaft, 802 - calibration hole, 803 - groove, 9 - simulated flange, 901 - connection hole, 902 - mating surface, 10 - wrench, 11 - key, 12 - Bearing II, 13 - snap ring II. Detailed Embodiments

[0028] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Such as Figure 1 、 Figure 2As shown in the figure, the present invention provides a robot transmission phase calibration device for calibrating the gear assembly phase between the input gear 3 of the reducer and the gear of the RV reducer 2. This tooling includes a simulation rotating shaft 8, a simulation flange 9, and a wrench 10. Among them, the simulation flange 9 is installed at the input installation end of the casting 1 on the outer side of the RV reducer 2. The end of the simulation rotating shaft 8 is installed with the calibration input gear 3 of the reducer. The simulation rotating shaft 8 passes through the central hole of the simulation flange 9, making the input gear 3 of the reducer contact with the internal transmission gear 201 of the RV reducer 2. By rotating the simulation rotating shaft 8 with the wrench 10, the teeth of the input gear 3 of the reducer are inserted and blindly installed into the meshing grooves of the internal transmission gear 201 of the RV reducer 2, so as to calibrate the gear assembly phase within the restricted working space 102 inside the RV reducer 2.

[0030] As Figure 1 , Figure 2 shown in the figure, in the embodiment of the present invention, the simulation rotating shaft 8 is a stepped shaft structure. The lower end of the simulation rotating shaft 8 is connected to the input gear 3 of the reducer through a key 11 and then axially connected through a screw 6 to achieve circumferential and axial fixation. A groove 803 for the operation of the wrench 10 is provided on the upper end face of the simulation rotating shaft 8.

[0031] Furthermore, calibration holes 802 are provided on the positioning plane where the simulation rotating shaft 8 and the simulation flange 9 are positioned, and positioning holes are provided on the simulation flange 9. When the calibration holes 802 are aligned with the positioning holes on the simulation flange 9, the calibration of the gear assembly phase is completed.

[0032] As Figure 1 shown in the figure, in the embodiment of the present invention, a bearing I 4 and a bearing II 12 are respectively installed on the input gear 3 of the reducer and the simulation rotating shaft 8. The inner ring of the bearing I 4 is axially limited by a snap ring I 4, and the inner ring of the bearing II 12 is axially limited by a snap ring II 13. The simulation rotating shaft 8 can rotate relative to the simulation flange 9, and the input gear 3 of the reducer can rotate relative to the casting 1.

[0033] As Figure 2 shown in the figure, in the embodiment of the present invention, a plurality of connection holes 901 are evenly distributed along the circumferential direction on the simulation flange 9, and the plurality of connection holes 901 are connected to the casting 1 through bolts. Preferably, four connection holes 901 are evenly distributed along the circumferential direction on the simulation flange 9.

[0034] In the embodiment of the present invention, the outside of the simulation flange 9 is the same as the motor flange. The simulation rotating shaft 8 has the same shape as the motor shaft.

[0035] The present invention provides a robot transmission phase calibration device, which realizes the meshing phase calibration of the input gear of the speed reducer and the internal transmission gear of the speed reducer within the limited working space of the operation blind area inside the speed reducer. According to the calibrated gear meshing phase, the motor with the input gear of the speed reducer is then installed at the input installation end of the casting 1 to achieve in-phase assembly. The axial space of the gears is compact and the assembly efficiency is high; in the working condition where the outer contour of the motor is close to the inner wall of the casting, the assembly can be easily completed.

[0036] On the basis of the above embodiment, another embodiment of the present invention provides a robot transmission phase calibration method, which is realized by using the robot transmission phase calibration device in the above embodiment. As Figures 1 to 3 shown, the calibration method includes the following steps:

[0037] Step S1: Install the robot transmission phase calibration device at the input installation end of the casting 1 of the RV reducer 2;

[0038] Step S2: Make the gear end faces of the force-sensing input gear 3 of the speed reducer and the internal transmission gear 201 fit together. Rotate the simulation rotating shaft 8 through the wrench 10. After the gap between the teeth of the force-sensing input gear 3 of the speed reducer and the meshing groove of the internal transmission gear 201, insert the teeth of the input gear 3 of the speed reducer into the meshing groove of the internal transmission gear 201 to complete the blind assembly of the input gear 3 of the speed reducer and the internal transmission gear 201 of the RV reducer 2. Align a calibration hole 802 on the simulation rotating shaft 8 with the positioning hole on the simulation flange 9 to achieve gear assembly phase calibration; specifically, after the gear assembly phase calibration, the subsequent motor can achieve effective meshing assembly of the input gear 3 of the speed reducer and the internal transmission gear 201 of the RV reducer 2 within a very small rotation range.

[0039] Step S3: Remove the robot transmission phase calibration device;

[0040] Step S4: Install the motor 7 with the input gear 3 of the speed reducer at the input installation end of the casting 1;

[0041] Step S5: Make the gear end faces of the force-sensing input gear 3 of the speed reducer connected to the motor 7 and the internal transmission gear 201 fit together. Rotate the tail of the motor 7. After the gap between the teeth of the force-sensing input gear 3 of the speed reducer and the meshing groove of the internal transmission gear 201, insert the teeth of the input gear 3 of the speed reducer into the meshing groove of the internal transmission gear 201 to complete the blind assembly of the input gear 3 of the speed reducer and the internal transmission gear 201 of the RV reducer 2. Rotate the motor 7 to align the positioning hole on the motor flange with the installation hole on the casting 1;

[0042] Step S6: Lock the motor 7 on the casting 1.

[0043] Specifically, in step S1, the installation process of the robot transmission phase calibration device includes the following steps:

[0044] Step M1: Install the simulation flange 9 on the casting 1. The four connecting holes 901 respectively correspond to the four mounting holes on the casting 1, and then lock the relative position relationship through bolts;

[0045] Step M2: Install the reducer input gear 3 at the end of the simulation rotating shaft 8. Bearing I 4 and bearing II 12 are respectively installed on the reducer input gear 3 and the simulation rotating shaft 8;

[0046] Step M3: Pass the simulation rotating shaft 8 through the central hole of the simulation flange 9, so that the lower end face 302 of the reducer input gear 3 contacts the upper end face 202 of the internal transmission gear 201.

[0047] In this embodiment, the gear clearance tolerance between the teeth of the reducer input gear 3 and the internal transmission gear 201 of the RV reducer 2 is only about 4 wires, and the distance between the motor side 701 of the motor 7 and the inner cavity side wall 101 of the casting 1 is very close.

[0048] In step S2, the angle range of rotating the simulation rotating shaft 8 by the wrench 10 is ±9°. During the initial installation process, the angle between the teeth of the reducer input gear 3 on the output shaft of the motor 7 and the meshing groove of the internal transmission gear 201 of the RV reducer 2 is relatively large, and this angle is within the range of ±9°.

[0049] In step S5, the clearance between the teeth and grooves of the force-sensing gear is 0.02 ± 0.015 mm, and the rotation angle of the motor 7 is ±3.73°. That is to say, the motor 7 can achieve effective meshing between the reducer input gear 3 and the internal transmission gear 201 of the RV reducer 2 within the range of ±3.73° of the positive and negative rotation angles, so as to complete the assembly operation of the motor and the reducer under the condition that the distance between the motor side 701 of the motor 7 and the inner cavity side wall 101 of the casting 1 is very close. And the axial space of the gear is compact, and the assembly efficiency is high.

[0050] The present invention provides a robot transmission phase calibration method, which realizes the meshing of the reducer input gear and the internal transmission gear of the reducer in the limited working space of the internal operation blind area of the reducer, realizes the in-phase assembly, the axial space of the gear is compact, and the assembly efficiency is high; under the condition that the size of the outer contour of the motor is close to the inner wall of the casting, the assembly can be easily completed.

[0051] The above is only the embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A robot transmission phase calibration device for calibrating the gear assembly phase of the input gear (3) of a speed reducer and an RV speed reducer (2), characterized in that, The tooling includes a simulated rotating shaft (8), a simulated flange (9), and a wrench (10). The simulated flange (9) is installed at the input installation end of the casting (1) on the outer side of the RV reducer (2). The end of the simulated rotating shaft (8) is installed with a calibrated reducer input gear (3). The simulated rotating shaft (8) passes through the central hole of the simulated flange (9) so that the reducer input gear (3) contacts the internal transmission gear (201) of the RV reducer (2). By rotating the simulated rotating shaft (8) with the wrench (10), the teeth of the reducer input gear (3) are inserted into the meshing grooves of the internal transmission gear (201) of the RV reducer (2) for blind assembly, thereby calibrating the gear assembly phase.

2. The robot transmission phase calibration device according to claim 1, characterized in that The simulated rotating shaft (8) has a stepped shaft structure. The lower end of the simulated rotating shaft (8) is connected to the reducer input gear (3) through a key (11) and then axially connected through a screw (6). A groove (803) for the operation of the wrench (10) is provided on the upper end face of the simulated rotating shaft (8).

3. The robot transmission phase calibration device according to claim 2, wherein, Calibration holes (802) are provided on the positioning plane where the simulated rotating shaft (8) is positioned with the simulated flange (9), and positioning holes are provided on the simulated flange (9). When the calibration holes (802) are aligned with the positioning holes on the simulated flange (9), the calibration of the gear assembly phase is completed.

4. The robot transmission phase calibration device according to claim 3, characterized in that, Bearing I (4) and bearing II (12) are respectively installed on the reducer input gear (3) and the simulated rotating shaft (8). The inner ring of bearing I (4) is axially limited by a circlip I (4), and the inner ring of bearing II (12) is axially limited by a circlip II (13).

5. The robot transmission phase calibration device according to claim 4, wherein A plurality of connection holes (901) are evenly distributed along the circumference on the simulated flange (9), and the plurality of connection holes (901) are connected to the casting (1) through bolts.

6. A calibration method using the robot transmission phase calibration device as described in claim 5, characterized in that, It includes the following steps: Step S1: Install the robot transmission phase calibration device at the input installation end of the casting (1) of the RV reducer (2); Step S2: Make the gear end faces of the force-sensing reducer input gear (3) and the internal transmission gear (201) fit together. Rotate the simulated rotating shaft (8) with the wrench (10). After the gap between the teeth of the force-sensing reducer input gear (3) and the meshing grooves of the internal transmission gear (201), insert the teeth of the reducer input gear (3) into the meshing grooves of the internal transmission gear (201) to complete the blind assembly of the reducer input gear (3) and the internal transmission gear (201) of the RV reducer (2). Rotate the simulated rotating shaft (8) to align a calibration hole (802) on the simulated rotating shaft (8) with the positioning hole on the simulated flange (9) to achieve the calibration of the gear assembly phase; Step S3: Remove the robot transmission phase calibration device; Step S4: Install the motor (7) with the reducer input gear (3) at the input installation end of the casting (1); Step S5: The input gear (3) of the speed reducer connected to the force sensor is in contact with the gear end face of the internal transmission gear (201). Rotate the tail of the motor (7). After the gap between the teeth of the input gear (3) of the force sensor speed reducer and the meshing groove of the internal transmission gear (201), insert the teeth of the input gear (3) of the speed reducer into the meshing groove of the internal transmission gear (201) to complete the blind insertion of the input gear (3) of the speed reducer and the internal transmission gear (201) of the RV speed reducer (2). Rotate the motor (7) to align the positioning hole on the motor flange with the mounting hole on the casting (1). Step S6: Lock the motor (7) on the casting (1).

7. The calibration method according to claim 6, characterized in that In step S1, the installation process of the robot transmission phase calibration device includes the following steps: Step M1: Install the simulation flange (9) on the casting (1). Step M2: Install the input gear (3) of the speed reducer at the end of the simulation shaft (8). Bearings I (4) and II (12) are respectively installed on the input gear (3) of the speed reducer and the simulation shaft (8). Step M3: Pass the simulation shaft (8) through the central hole of the simulation flange (9) so that the lower end face (302) of the input gear (3) of the speed reducer is in contact with the upper end face (202) of the internal transmission gear (201).

8. The calibration method according to claim 6, characterized in that In step S2, the angle range for rotating the simulation shaft (8) by the wrench (10) is ±9°.

9. The calibration method according to claim 6, wherein In step S5, the rotation angle of the motor (7) is ±3.73°.

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