Robot transmission part locking device

Abstract

The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot assembly, and particularly relates to a robot transmission part locking device which is used for locking when a speed reducer and a waist seat casting are assembled. The locking assembly comprises a cylinder and two radial telescopic pieces symmetrically arranged on the lower bottom face of the cylinder, the two radial telescopic pieces can stretch out and draw back in the radial direction, the cylinder is arranged in a center hole of the speed reducer, and the two radial telescopic pieces penetrate through the side wall of the cylinder and extend to the outer side of the lower end face of the speed reducer. And the speed reducer input hollow gear of the speed reducer is axially limited. The speed reducer input hollow gear is axially limited through the two radial telescopic pieces in the locking assembly, the speed reducer input hollow gear is prevented from falling off when the speed reducer and a waist seat casting are assembled, and the assembling quality and the assembling efficiency are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot assembly, and in particular relates to a robot transmission part locking device. Background Art

[0002] During the assembly process of the six-degree-of-freedom vertical multi-jointed industrial robot, the reducer needs to be installed on the waist seat casting. Since the waist seat casting is heavier than the reducer, according to the process requirements of the whole machine assembly, the waist seat casting and the reducer are installed in the state of the reducer on the top and the waist seat casting on the bottom. The reducer includes the reducer housing, the upper bearing, the reducer input hollow gear, and the lower bearing. At present, it is assembled manually in sequence. The assembly of the reducer input hollow gear and the three planetary gear pairs is a blind installation and plug-in process, which is easy to bump the gears, and the success rate of plug-in is low, so the assembly efficiency is low. The inner rings of the upper and lower bearings are tight fit with the reducer input hollow gear, and the tight fit is press-fit. Therefore, the inner rings of the upper and lower bearings and the reducer input hollow gear will not fall off during the assembly process due to gravity problems. However, the outer ring of the upper bearing is loosely fitted with the reducer housing. Therefore, during the assembly process, the upper bearing, the reducer input hollow gear, and the lower bearing are easy to fall due to gravity, which poses a safety hazard.

[0003] Since the reducer input hollow gear and the three planetary gears have a gear pair meshing assembly phase relationship, the reducer housing and the upper bearing, the reducer input hollow gear and the lower bearing must be locked as a whole to carry out the assembly process of the reducer to the waist seat casting. In the final process of the reducer housing and waist seat casting assembly, the upper bearing, the reducer input hollow gear and the lower bearing are located in the blind installation area and cannot be touched manually, which increases the difficulty of assembly. Utility Model Content

[0004] In view of the above problems, the purpose of the utility model is to provide a robot transmission component locking device to solve the problem of safety hazards and low assembly efficiency in the manual assembly of the reducer and the waist seat.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides a robot transmission part locking device, which is used for locking a reducer and a waist seat casting during assembly. The device comprises a locking assembly;

[0007] The locking assembly includes a cylinder and two radial expansion pieces symmetrically arranged on the lower bottom surface of the cylinder. The two radial expansion pieces can expand and contract radially. The cylinder is arranged in the center hole of the reducer. The two radial expansion pieces penetrate the side wall of the cylinder and extend to the outside of the lower end surface of the reducer to axially limit the reducer input hollow gear of the reducer.

[0008] In a possible implementation, two radial waist holes are radially provided on the lower bottom surface of the cylinder, and a guide screw is threadedly connected to the rear end of each radial expansion piece, and the two guide screws are respectively accommodated in the two radial waist holes.

[0009] In a possible implementation, the front end of the radial expansion piece is provided with an arc edge, and the length and radial expansion stroke of the radial expansion piece ensure that when the radial expansion piece is contracted to the limit position, the arc edge is located inside the outer circumference of the cylinder.

[0010] In a possible implementation, two annular slits are symmetrically provided on the side wall of the lower end of the cylinder along the circumferential direction, and the two annular slits are respectively used for the expansion and contraction of the two radial expansion sheets.

[0011] In one possible implementation, an upper ring is provided on the upper end surface of the cylinder. When the radial expansion piece is extended and locked, the upper ring fits against the upper end surface of the center hole of the reducer to achieve locking between the cylinder and the reducer.

[0012] In a possible implementation, the guide screw is located at the inner end of the cylinder and protrudes from the lower bottom surface, and the radial expansion piece is moved by the guide screw to expand and contract radially.

[0013] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot transmission part locking device, which axially limits the reducer input hollow gear through two radial expansion plates in the locking component, prevents the reducer input hollow gear from falling off when the reducer and the waist seat casting are assembled, and improves the assembly quality and assembly efficiency.

[0014] The utility model is ergonomic and can prevent the upper bearing, the reducer input hollow gear and the lower bearing from falling and causing work-related accidents. The operation is simple and the assembly cost and personnel cost are saved. The problem of the gears colliding during the blind assembly and insertion process of the reducer input hollow gear and the three planetary gear pairs is solved, and the assembly efficiency is improved by eliminating the gear insertion.

[0015] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained by the structures particularly pointed out in the written description and the drawings.

[0016] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the locking state structure of a robot transmission part locking device of the utility model;

[0019] Figure 2 for Figure 1 A partial enlarged view of the middle part;

[0020] Figure 3 This is a schematic diagram of the structure of a robot transmission part locking device before locking according to the utility model;

[0021] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0022] Figure 5 It is a schematic structural diagram of the radial expansion piece in the utility model.

[0023] In the figure: 1- waist seat casting, 101- bearing positioning hole chamfer, 102- bearing positioning hole, 103- reducer positioning hole, 104- reducer axial positioning surface;

[0024] 2-reducer, 201-reducer housing, 202-upper bearing, 203-reducer input hollow gear, 204-lower bearing, 205-planetary gear, 206-upper end surface of center hole, 207-center hole, 208-reducer mounting threaded hole;

[0025] 3-locking assembly, 301-upper ring, 302-cylinder, 303-lower bottom surface, 304-radial expansion piece, 3041-threaded hole, 3042-arc edge, 305-guide screw, 306-radial waist hole, 307-annular slit. DETAILED DESCRIPTION

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like 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 a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0028] like Figures 1 to 5 As shown, the utility model provides a robot transmission part locking device, which is used for locking the reducer 2 and the waist seat casting 1 during assembly. The device includes a locking component 3; the locking component 3 includes a cylinder 302 and two radial expansion pieces 304 symmetrically arranged on the lower bottom surface 303 of the cylinder 302, and the two radial expansion pieces 304 can be expanded and contracted in the radial direction. The cylinder 302 is arranged in the center hole 207 of the reducer 2, and the two radial expansion pieces 304 penetrate the side wall of the cylinder 302 and extend to the outer side of the lower end surface of the reducer 2, so as to axially limit the reducer input hollow gear 203 of the reducer 2.

[0029] like Figure 2 , Figure 4 , Figure 5 As shown, in the embodiment of the utility model, two radial waist holes 306 are radially provided on the lower bottom surface 303 of the cylinder 302, and the center lines of the two radial waist holes 306 are located on the same diameter. The rear end of each radial expansion piece 304 is provided with a threaded hole 3041, and the threaded hole 3041 is threadedly connected with a guide screw 305. The two guide screws 305 are respectively accommodated in the two radial waist holes 306, and play a guiding role when the radial expansion piece 304 is expanded and contracted.

[0030] Furthermore, the guide screw 305 is located at the inner end of the cylinder 302 and protrudes from the lower bottom surface 303, so that the radial expansion piece 304 can be moved to expand and contract in the radial direction by the guide screw 305.

[0031] Furthermore, a circular arc edge 3042 is provided at the front end of the radial expansion piece 304. The length and radial expansion stroke of the radial expansion piece 304 ensure that when the radial expansion piece 304 is contracted to the extreme position, the circular arc edge 3042 is located on the inner side of the outer circumference of the cylinder 302, so that the cylinder 302 can freely enter and exit the center hole 207 of the reducer 2.

[0032] Furthermore, if Figure 1 , Figure 3 As shown, an upper ring 301 is provided on the upper end surface of the cylinder 302. When the radial expansion piece 304 is extended and locked, the upper ring 301 fits with the upper end surface 206 of the center hole of the reducer 2 to achieve locking between the cylinder 302 and the reducer 2.

[0033] like Figure 4As shown, in the embodiment of the utility model, two annular slits 307 are symmetrically provided on the side wall of the lower end of the cylinder 302 along the circumferential direction. The two annular slits 307 are respectively used for the expansion and contraction of two radial expansion sheets 304. The two radial expansion sheets 304 pass through the two annular slits 307 respectively and can expand and contract freely.

[0034] In the embodiment of the utility model, the diameter of the center hole 207 of the reducer 2 is smaller than the outer diameter of the upper ring 301, and the diameter of the center hole 207 of the reducer 2 is larger than the outer diameter of the cylinder 302 and the lower bottom surface 303. The height of the annular slit 307 is slightly larger than the thickness of the radial expansion piece 304, and the length of the annular slit 307 is slightly wider than the width of the radial expansion piece 304. The guide screw 305 passes through the radial waist hole 306 of the lower bottom surface 303 from bottom to top, and is screwed with the threaded hole 3041 on the radial expansion piece 304 but not locked. Manually using a screwdriver to move the guide screw 305 higher than the head of the radial expansion piece 304 can make the arc edge 3042 of the radial expansion piece 304 in two positions, namely, the arc edge 3042 is received inside the outer diameter of the cylinder 302, which is an unlocked state; the arc edge 3042 protrudes outside the outer diameter of the cylinder 302, which is a locked state. When the arc edge 3042 is in a locked state, the upper end of the radial expansion piece 304 can support the lower end of the reducer input hollow gear 203 .

[0035] The utility model provides a robot transmission part locking device, which installs the reducer 2 on the waist seat casting 1 through the locking component 3. Since the waist seat casting 1 is heavier than the reducer 2, according to the assembly process requirements of the whole machine, the waist seat casting 1 and the reducer 2 are installed in the state that the reducer 2 is on the top and the waist seat casting 1 is on the bottom. Specifically, the reducer 2 includes a reducer housing 201, an upper bearing 202, a reducer input hollow gear 203, and a lower bearing 204. The inner rings of the upper bearing 202 and the lower bearing 204 are tightly matched with the reducer input hollow gear 203, and the tight fit is press-fit. Therefore, the inner rings of the upper bearing 202 and the lower bearing 204 and the reducer input hollow gear 203 will not fall off during the assembly process due to gravity problems. However, the outer ring of the upper bearing 202 is loosely matched with the reducer housing 201. The utility model supports the reducer input hollow gear 203 through two radial expansion pieces 304 in the locking component 3 to limit its axial position. Therefore, during the assembly process, the upper bearing 202, the reducer input hollow gear 203, and the lower bearing 204 will not fall off, and the reducer input hollow gear 203 and the three planetary gears 205 maintain the assembly phase relationship of the gear pair meshing, so that the reducer housing 201 and the upper bearing 202, the reducer input hollow gear 203 and the lower bearing 204 are locked as a whole, and the reducer 2 is installed on the waist seat casting 1. The problem of blind insertion and collision of gears is avoided during the entire assembly process.

[0036] The utility model provides a robot transmission part locking device, and the application steps are as follows:

[0037] Step S1: lifting the reducer housing 201;

[0038] Step S2: placing three safety columns at the lower end of the reducer housing 201;

[0039] Step S3: press-fit the upper bearing 202 and the lower bearing 204 onto the outer side of the reducer input hollow gear 203;

[0040] Step S4: The locking assembly 3 is unlocked and installed from top to bottom into the center hole 207 of the reducer housing 201;

[0041] Step S5: Install the reducer input hollow gear 203 with the upper bearing 202 and the lower bearing 204 from bottom to top on the reducer housing 201 and locate it outside the locking assembly 3;

[0042] Step S6: The two radial expansion pieces 304 of the locking assembly 3 extend out to hold the reducer input hollow gear 203, which is in a locked state;

[0043] Step S7: guiding and positioning the outer ring of the lower bearing 204 and the bearing positioning hole chamfer 101 of the waist seat casting 1;

[0044] Step S8: Assemble the outer ring of the lower bearing 204 with the bearing positioning hole 102 of the waist seat casting 1;

[0045] Step S9: The positioning stop of the reducer 2 is assembled with the reducer positioning hole 103 of the waist seat casting 1;

[0046] Step S10: The shaft shoulder of the positioning stop of the reducer 2 is assembled in place with the reducer axial positioning surface 104 of the waist seat casting 1;

[0047] Step S11: The reducer installation threaded hole 208 on the lower end surface of the reducer 2 is locked with the waist seat casting 1 by bolts;

[0048] Step S12: The two radial expansion pieces 304 of the locking assembly 3 are retracted to an unlocked state;

[0049] Step S13: The locking assembly 3 is pulled out from the reducer housing 201 from top to bottom, completing the assembly process.

[0050] The utility model is ergonomic and can prevent the upper bearing, the reducer input hollow gear and the lower bearing from falling and causing work-related accidents. The operation is simple and the assembly cost and personnel cost are saved. The problem of the gears colliding during the blind assembly and insertion process of the reducer input hollow gear and the three planetary gear pairs is solved, and the assembly efficiency is improved by eliminating the gear insertion.

[0051] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot transmission part locking device, used for locking a reducer (2) and a waist seat casting (1) during assembly, characterized in that: The device comprises a locking assembly (3); The locking assembly (3) comprises a cylinder (302) and two radial expansion pieces (304) symmetrically arranged on the lower bottom surface (303) of the cylinder (302); the two radial expansion pieces (304) can expand and contract radially; the cylinder (302) is arranged in the center hole (207) of the reducer (2); the two radial expansion pieces (304) penetrate the side wall of the cylinder (302) and extend to the outer side of the lower end surface of the reducer (2), so as to axially limit the reducer input hollow gear (203) of the reducer (2).

2. The robot transmission component locking device according to claim 1, characterized in that: Two radial waist holes (306) are radially arranged on the lower bottom surface (303) of the cylinder (302), and a guide screw (305) is threadedly connected to the rear end of each radial expansion piece (304), and the two guide screws (305) are respectively accommodated in the two radial waist holes (306).

3. The robot transmission component locking device according to claim 2, characterized in that: The front end of the radial expansion piece (304) is provided with an arc edge (3042), and the length and radial expansion stroke of the radial expansion piece (304) ensure that when the radial expansion piece (304) is contracted to the extreme position, the arc edge (3042) is located on the inner side of the outer circumference of the cylinder (302).

4. The robot transmission component locking device according to claim 2, characterized in that: Two annular slits (307) are symmetrically arranged on the side wall of the lower end of the cylinder (302) along the circumferential direction, and the two annular slits (307) are respectively used for the expansion and contraction of the two radial expansion sheets (304).

5. The robot transmission component locking device according to claim 2, characterized in that: An upper ring (301) is provided on the upper end surface of the cylinder (302). When the radial expansion piece (304) is extended and locked, the upper ring (301) fits against the upper end surface (206) of the center hole of the reducer (2), thereby achieving locking between the cylinder (302) and the reducer (2).

6. The robot transmission component locking device according to claim 2, characterized in that: The guide screw (305) is located at the inner end of the cylinder (302) and protrudes from the lower bottom surface (303). The guide screw (305) is used to move the radial expansion piece (304) to expand and contract in the radial direction.

Images