A device and method for improving efficiency of robotic assembly production

Abstract

The present application belongs to the technical field of industrial robot production, and particularly relates to a device and method for improving the production efficiency of a robot, which is used for injecting grease into a grease cavity of a robot wrist. The device comprises a grease tank, a lower manual valve, an upper manual valve, a grease injection pipeline, a vacuum pipeline and a vacuum system. The grease tank is connected to a grease port of the grease cavity of the robot wrist through the grease injection pipeline, and the lower manual valve is arranged on the grease injection pipeline. One end of the vacuum pipeline is connected to an air port of the grease cavity of the robot wrist, and the other end of the vacuum pipeline is connected to the vacuum system. The upper manual valve is arranged on the vacuum pipeline. The grease cavity of the robot wrist is first vacuumized by the vacuum system, and then the lower manual valve is opened to automatically inject grease. The present application improves the low grease injection production efficiency, ensures the consistency of the oil injection quality, and avoids the phenomenon of grease overflow.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot manufacturing technology, specifically relating to a device and method for improving the production efficiency of robot components. Background Technology

[0002] The J6-axis wrist assembly of the heavy-duty industrial robot includes, but is not limited to, the robot wrist casting 1, the servo motor 2, the reducer 3, and the flange 7. See [link / reference]. Figure 1 As shown. The output shaft end of the reducer 3 is sealed by four sealing caps 31, see [reference]. Figure 3 As shown, this sealing method has a high safety factor for mass production, but injecting lubricating grease presents significant challenges. Because the grease port 8 and air port 9 of the robot wrist casting 1 are located on one side of the input gear 32 of the reducer 3, the volume of grease 5 injected needs to be V2, where V2 = 719cc. Some grease overflows from the air port 9. (See [reference needed]). Figure 1 and Figure 2 As shown. The reason is that the grease passage 18 on the input gear side has low resistance and small volume, and its upper and lower ends connect to the air port 9 and the grease port 8; the grease passage 19 inside the reducer has high resistance and large volume. The grease passage 19 inside the reducer includes a narrow slit grease passage 1901 and a reducer cavity 1902. The narrow slit grease passage 1901 connects the reducer cavity 1902 and the grease passage 18 on the input gear side. Due to the high kinetic viscosity of the grease, according to Newton's law of viscosity, some grease 5 will overflow from the air port 9. To solve the grease overflow problem, the temporary measure adopted is to rotate the reducer, intermittently inject grease, and manually observe whether the air port 9 overflows. This method seriously affects production efficiency and the consistency of grease injection quality. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide an apparatus and method for improving the production efficiency of robot assembly, thereby solving the problems of low production efficiency, poor consistency of oil injection quality, and oil overflow in existing grease injection methods.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a device for improving the production efficiency of robot assembly, used for injecting grease into the grease cavity of a robot wrist assembly. The device comprises a grease tank, a lower manual valve, an upper manual valve, a grease injection line, a vacuum line, and a vacuum system. The grease tank is connected to the grease port of the robot wrist assembly grease cavity via the grease injection line, and the lower manual valve is located on the grease injection line. One end of the vacuum line is connected to the air port of the robot wrist assembly grease cavity, and the other end is connected to the vacuum system. The upper manual valve is located on the vacuum line. The robot wrist assembly grease cavity is first evacuated by the vacuum system, and then the lower manual valve is opened for automatic grease injection.

[0006] In one possible implementation, the vacuum system includes a gas tank, a digital pressure gauge, a vacuum pressure valve, and a vacuum source, wherein the vacuum source and the vacuum pressure valve are connected to the vacuum pipeline via gas line I, and the digital pressure gauge and the gas tank are connected to the vacuum pipeline via gas line II, and the digital pressure gauge is used to detect the vacuum pressure.

[0007] In one possible implementation, the amount of grease injected into the grease chamber of the robot wrist is controlled by a vacuum pressure value, and the pressure difference before and after grease injection into the grease chamber of the robot wrist meets the set pressure range of the vacuum pressure valve.

[0008] In one possible implementation, the grease chamber in the robot wrist is an internal transmission lubrication space for the wrist casting, servo motor, and reducer, with the output shaft of the reducer connected to a flange.

[0009] The pressure difference between the grease-filled cavity in the robot wrist and the pressure before grease filling meets the sealing requirements of the reducer.

[0010] In one possible implementation, the dynamic seal of the reducer includes an annular sealing sleeve, a rectangular sealing ring, and a reducer lip packing dynamic seal, wherein the reducer lip packing dynamic seal is disposed between the output shaft of the reducer and the housing, the annular sealing sleeve is sleeved on the output shaft of the reducer, and the two sides of the annular sealing sleeve are respectively sealed to the housing of the reducer and the flange through the rectangular sealing ring.

[0011] Another aspect of the present invention provides a method for improving the efficiency of robot assembly production using the device described above, comprising the following steps:

[0012] Step S1: Close the lower manual valve, open the upper manual valve, and use a vacuum source to evacuate the grease chamber in the robot wrist.

[0013] Step S2: Adjust the vacuum pressure using the vacuum pressure valve and check the vacuum pressure value using a digital pressure gauge;

[0014] Step S3: When the reading on the digital pressure gauge reaches the set value, close the upper manual valve;

[0015] Step S4: Open the lower manual valve, and the grease in the grease tank will be automatically injected into the grease chamber of the robot's wrist;

[0016] Step S5: After the grease injection is complete, close the lower manual valve;

[0017] Step S6: Disassemble the grease injection line and vacuum line, and screw the sealing plugs into the grease port and air port respectively.

[0018] In one possible implementation, in step S4, the grease in the grease tank enters the grease chamber of the robot wrist through the grease inlet and flows along the grease path on the input gear side and the grease path inside the reducer until the upper surface of the grease reaches the static ideal grease level, at which point grease injection stops.

[0019] The advantages and positive effects of the present invention are as follows: The present invention provides a device for improving the production efficiency of robot assembly, which improves production efficiency, avoids grease overflow, thereby avoiding the tedious workload of cleaning grease, and makes disassembly, cleaning and installation more convenient and quick.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 A schematic diagram of a grease-lubricating cavity for a robot's wrist;

[0024] Figure 2 This is one of the isometric drawings of the speed reducer;

[0025] Figure 3 This is the second isometric drawing of the speed reducer;

[0026] Figure 4 This is a schematic diagram of the structure of a device for improving the production efficiency of robot assembly according to the present invention;

[0027] Figure 5 This is a schematic diagram of the structure for injecting grease into the robot wrist in an embodiment of the present invention;

[0028] Figure 6 for Figure 5 A magnified view of a portion of point A in the middle.

[0029] In the diagram: 1-Wrist casting, 2-Servo motor, 3-Reducer, 4-Static ideal grease level, 5-Grease, 6-Internal air, 7-Flange, 8-Grease port, 9-Air port, 10-Grease canister, 11-Lower manual valve, 12-Upper manual valve, 13-Air tank, 14-Digital pressure gauge, 15-Vacuum pressure valve, 16-Vacuum source, 17-Gear, 18-Input gear side grease path, 19-Reducer internal grease path, 1901-Narrow slit grease path, 1902-Reducer internal cavity, 20-Grease injection line, 21-Vacuum line, 22-Annular sealing sleeve, 23-Rectangular sealing ring, 31-Sealing cap, 32-Input gear, 34-Reducer lip packing dynamic seal. Detailed Implementation

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0032] See Figure 4 As shown, an embodiment of the present invention provides a device for improving the production efficiency of robot assembly, used for grease injection into the grease cavity of robot wrist assembly. The device includes a grease tank 10, a lower manual valve 11, an upper manual valve 12, a grease injection line 20, a vacuum line 21, and a vacuum system. The grease tank 10 is connected to the grease port 8 of the grease cavity of the robot wrist assembly through the grease injection line 20, and the lower manual valve 11 is disposed on the grease injection line 20. One end of the vacuum line 21 is connected to the air port 9 of the grease cavity of the robot wrist assembly, and the other end of the vacuum line 21 is connected to the vacuum system. The upper manual valve 12 is disposed on the vacuum line 21. The grease cavity of the robot wrist assembly is first evacuated by the vacuum system, and then the lower manual valve 11 is opened for automatic grease injection.

[0033] See Figure 1-3As shown in the embodiment of the present invention, the robot wrist to be grease-injected includes a wrist casting 1, a servo motor 2, a reducer 3, and a flange 7. The servo motor 2 and the reducer 3 are mounted on the wrist casting 1. The output shaft of the servo motor 2 is equipped with a gear 17, which inputs motion and power to the three input gears 32 of the reducer 3. The output end of the reducer 3 then drives the flange 7 to rotate. Specifically, the reducer 3 is preferably from Huandong, model SHPR-125H.

[0034] In this embodiment, the grease chamber in the robot wrist refers to the internal transmission lubrication space of the wrist casting 1, servo motor 2, and reducer 3. The grease chamber in the robot wrist includes an input gear side grease path 18 and a reducer internal grease path 19. The input gear side grease path 18 is located on one side of the three input gears 32 of the reducer 3, and the upper and lower ends of the input gear side grease path 18 are respectively provided with air ports 9 and grease ports 8. The reducer internal grease path 19 includes a narrow slit grease path 1901 and a reducer inner cavity 1902. The narrow slit grease path 1901 connects the reducer inner cavity 1902 and the input gear side grease path 18.

[0035] See Figure 4 As shown in the embodiment of the present invention, the vacuum system includes a gas tank 13, a digital pressure gauge 14, a vacuum pressure valve 15, and a vacuum source 16. The vacuum source 16 and the vacuum pressure valve 15 are connected to the vacuum pipeline 21 through gas path I. The vacuum source 16 is used for vacuuming, and the vacuum pressure valve 15 is used to adjust the vacuuming pressure. The digital pressure gauge 14 and the gas tank 13 are connected to the vacuum pipeline 21 through gas path II. The digital pressure gauge 14 is used to detect the vacuuming pressure, and the gas tank 13 plays a role in stabilizing the pressure.

[0036] Specifically, the preferred brand for the air conditioning pressure valve 15 is Yiheda. Product model: WFQ61-10-L-C06-BG, set pressure range: -1.3 to -100 kPa, handwheel resolution 0.13 kPa.

[0037] In embodiments of the present invention, the amount of grease injected into the grease chamber of the robot wrist is controlled by the vacuum pressure value, and the pressure difference before and after grease injection into the grease chamber of the robot wrist meets the set pressure range of the vacuum pressure valve 15.

[0038] Furthermore, the pressure difference between the grease-filled cavity in the robot wrist before and after grease injection meets the sealing requirements of the reducer.

[0039] See Figure 5 and Figure 6As shown, in an embodiment of the present invention, the total volume of the grease chamber in the robot wrist is set as V1, and V1 = 824cc; when the grease in the grease chamber in the robot wrist reaches the static ideal grease level height 4, the volume of the injected grease 5 is V2 = 719cc, and the volume of the internal air 6 above the grease 5 is V3, then V1 = V2 + V3.

[0040] According to Boyle's law, for a given mass of a gas at a constant temperature, the pressure is inversely proportional to its volume: V = k / P, where k is a constant.

[0041] If, under the same temperature conditions, the gas relationship before and after grease injection can be expressed as: P1×V1=P2×(V1-V2), then P1=P2×(V1-V2) / V1, where P2 is the standard atmospheric pressure of 101.325 kPa (760 mmHg), which is the pressure generated by a mercury column height of approximately 760 mmHg. This is called the standard atmospheric pressure, or simply the standard pressure. Finally, we obtain P1=12.912 kPa.

[0042] The first boundary condition for the amount of fat injected is:

[0043] The pressure difference between before and after grease injection, P1-P2 = 12.912-101.325 = -88.4131 kPa, meets the set pressure range of the vacuum pressure valve 15: -1.3 to -100 kPa.

[0044] The second boundary condition for the amount of fat injected is:

[0045] The reducer 3 contains a lip seal 34 between its output shaft and housing. Considering the differential pressure resistance of the lip seal 34: the pressure a lip seal can withstand is not a fixed value but is affected by various factors. In general industrial applications, lip seals are typically used in applications with pressure differentials of 0.01-0.05 MPa. However, in specific fields such as aerospace, due to more demanding requirements, lip seals need to withstand higher pressures. In these scenarios, lip seals may need to operate at differential pressures of 0.1-0.2 MPa or even higher.

[0046] The pressure difference before and after grease injection, P1-P2 = 12.912-101.325 = -88.4131 kPa, does not meet the 10-50 kPa requirement for conventional industrial lip seals in speed reducers. However, it meets the 100-200 kPa requirement in specific applications. Therefore, an annular sealing sleeve 22 can be added to the output shaft of speed reducer 3. Two rectangular sealing rings 23 are used on both sides of the annular sealing sleeve 22 to seal the speed reducer housing and flange 7 respectively. The preferred material for the rectangular sealing rings 23 is nitrile rubber (NBR): hardness 40±5 Shore A: suitable for low-pressure applications, typically able to withstand a pressure difference of 0-5 MPa (0-5000 kPa). This special speed reducer sealing structure ensures that the pressure difference before and after grease injection meets the sealing requirements.

[0047] The present invention provides a device for improving the production efficiency of robot assembly, which improves production efficiency, avoids grease overflow, thereby avoiding the tedious workload of cleaning grease, and makes disassembly, cleaning and installation more convenient and quick.

[0048] Based on the above embodiments, another embodiment of the present invention provides a method for improving the efficiency of robot assembly production using the device described in the above embodiments, comprising the following steps:

[0049] Step S1: Close the lower manual valve 11, open the upper manual valve 12, and use the vacuum source 16 to evacuate the grease chamber in the robot wrist.

[0050] Step S2: Adjust the vacuum pressure using the vacuum pressure valve 15 and check the vacuum pressure value using the digital pressure gauge 14;

[0051] Step S3: When the reading of the digital pressure gauge 14 reaches the set value P1, in this embodiment P1 = 12.912 kPa, the upper manual valve 12 is closed;

[0052] Step S4: Open the lower manual valve 11, and the grease in the grease tank 10 will be automatically injected into the grease chamber of the robot wrist;

[0053] Step S5: When the grease level in the grease chamber of the robot wrist reaches the static ideal grease level height 4, the grease injection is completed and the lower manual valve 11 is closed.

[0054] Step S6: Disassemble the grease injection line 20 and the vacuum line 21, and screw the sealing plugs into the grease port 8 and the air port 9 respectively.

[0055] Further, in step S4, the grease in the grease tank 10 enters the grease chamber of the robot wrist through the grease port 8 and flows along the grease path 18 on the input gear side and the grease path 19 inside the reducer until the upper surface of the grease reaches the static ideal grease level height 4, at which point the grease injection stops.

[0056] Another embodiment of the present invention provides a method for improving the production efficiency of robot assembly, which improves the production efficiency of grease injection, ensures the consistency of grease injection amount, avoids grease overflow, thereby avoiding the tedious workload of grease cleaning, and makes disassembly, cleaning and installation more convenient and faster.

[0057] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A device for improving the production efficiency of robot assembly, used for injecting grease into the grease cavity of the robot wrist assembly, characterized in that, The device includes a grease tank (10), a lower manual valve (11), an upper manual valve (12), a grease injection line (20), a vacuum line (21), and a vacuum system. The grease tank (10) is connected to the grease port (8) of the grease chamber in the robot wrist via the grease injection line (20). The lower manual valve (11) is located on the grease injection line (20). One end of the vacuum line (21) is connected to the air port (9) of the grease chamber in the robot wrist, and the other end of the vacuum line (21) is connected to the vacuum system. The upper manual valve (12) is located on the vacuum line (21). The grease chamber in the robot wrist is first evacuated by the vacuum system, and then the lower manual valve (11) is opened for automatic grease injection.

2. The apparatus for improving robot assembly production efficiency according to claim 1, characterized in that, The vacuum system includes a gas tank (13), a digital pressure gauge (14), a vacuum pressure valve (15), and a vacuum source (16). The vacuum source (16) and the vacuum pressure valve (15) are connected to the vacuum pipeline (21) through gas path I. The digital pressure gauge (14) and the gas tank (13) are connected to the vacuum pipeline (21) through gas path II. The digital pressure gauge (14) is used to detect the vacuum pressure.

3. The apparatus for improving robot assembly production efficiency according to claim 2, characterized in that, The amount of grease injected into the grease chamber of the robot wrist is controlled by the vacuum pressure value, and the pressure difference before and after grease injection into the grease chamber of the robot wrist meets the set pressure range of the vacuum pressure valve (15).

4. The apparatus for improving robot assembly production efficiency according to claim 2, characterized in that, The grease-filled cavity in the robot wrist is the internal transmission lubrication space of the wrist casting (1), servo motor (2) and reducer (3), and the output shaft of the reducer (3) is connected to the flange (7); The pressure difference before and after grease injection in the grease chamber of the robot wrist meets the sealing requirements of the reducer.

5. The apparatus for improving robot assembly production efficiency according to claim 4, characterized in that, The seal of the reducer includes an annular sealing sleeve (22), a rectangular sealing ring (23), and a reducer lip packing dynamic seal (34). The reducer lip packing dynamic seal (34) is disposed between the output shaft of the reducer (3) and the housing. The annular sealing sleeve (22) is sleeved on the output shaft of the reducer (3), and the two sides of the annular sealing sleeve (22) are respectively sealed to the housing of the reducer (3) and the flange (7) through the rectangular sealing ring (23).

6. A method for improving the production efficiency of robot assembly using the apparatus according to any one of claims 2-5, characterized in that, Includes the following steps: Step S1: Close the lower manual valve (11), open the upper manual valve (12), and use the vacuum source (16) to evacuate the grease chamber in the robot wrist; Step S2: Adjust the vacuum pressure using the vacuum pressure valve (15) and check the vacuum pressure value using the digital pressure gauge (14); Step S3: When the reading of the digital pressure gauge (14) reaches the set value, close the upper manual valve (12); Step S4: Open the lower manual valve (11), and the grease in the grease tank (10) will be automatically injected into the grease chamber of the robot wrist; Step S5: After the grease injection is completed, close the lower manual valve (11); Step S6: Disassemble the grease injection line (20) and vacuum line (21), and screw the sealing plugs into the grease port (8) and air port (9) respectively.

7. The method for improving robot assembly production efficiency according to claim 6, characterized in that, In step S4, the grease in the grease tank (10) enters the grease chamber of the robot wrist through the grease port (8) and flows along the grease path (18) on the side of the input gear and the grease path (19) inside the reducer until the upper surface of the grease reaches the static ideal grease level (4), and then the grease injection stops.

Images