Lossless dismounting device for robot sealing element

Abstract

The utility model belongs to the technical field of maintenance of six-degree-of-freedom industrial robots, and particularly relates to a lossless dismounting device for a robot sealing element, which is used for dismounting a sealing element end cover mounted at a variable-tooth-thickness gear at a robot joint, the sealing element end cover is matched with a casting pressing hole of a casting, and the lossless dismounting device comprises a pressure plate, a screw group and at least two upright posts, the stand column penetrates through a mounting hole in the variable-tooth-thickness gear, and one end of the stand column abuts against the sealing piece end cover; the pressing disc is used for abutting against the other end of the stand column, and a pressing disc center hole is formed in the pressing disc. The screw set comprises at least two screws with different lengths, the screws are used for penetrating through the center hole of the pressing disc to be in threaded connection with the center threaded hole of the tooth-thickness-variable gear, the pressing disc is pushed to move downwards by screwing the screws, and the stand column is used for transmitting power to the sealing piece end cover. The sealing element dismounting process is simple and fast, no beating sound exists in the implementation process, the sealing element cannot be damaged, the product quality is improved, and the cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of six-degree-of-freedom industrial robot maintenance, and in particular relates to a non-destructive disassembly device for a robot seal. Background Art

[0002] Six-degree-of-freedom vertical multi-jointed industrial robots are widely used in the field of industrial manufacturing. In order to ensure the flexibility of each joint of the six-degree-of-freedom vertical multi-jointed industrial robots and improve the operating accuracy, each joint needs to be regularly maintained. When maintaining the joints, you first need to open the seal end cover that matches the casting at the joint. The seal end cover is generally a thin-walled metal sheet shell on the inside and an elastomer nitrile rubber coating on the outside. At present, the seal end cover is removed by knocking with a tool to gradually separate the seal end cover from the casting. However, for the gearbox of the industrial robot with variable tooth thickness, it is difficult to remove the seal end cover by knocking during the assembly process or the later maintenance process. It is time-consuming and laborious, and the thin-walled metal sheet shell of the seal end cover will be permanently plastically deformed and damaged, causing the seal to fail. Therefore, there is an urgent need for a safe and efficient non-destructive disassembly device for robot seals. Utility Model Content

[0003] In view of the above problems, the purpose of the utility model is to provide a robot seal non-destructive disassembly device to solve the problem that the existing method of disassembling seals is difficult, time-consuming and labor-intensive, and in particular may damage the seal end cover, resulting in seal failure.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a robot seal non-destructive disassembly device, which is used to disassemble the seal end cover installed at the end of the variable tooth thickness gear at the robot joint, the seal end cover is matched with the casting press-fit hole of the casting, and is characterized in that the device comprises:

[0006] At least two columns, the columns pass through the mounting holes on the variable tooth thickness gear, and one end of the columns abuts against the end cover of the seal;

[0007] A pressure plate is used to abut against the other end of the column, and a pressure plate center hole is provided on the pressure plate;

[0008] A screw group includes at least two screws of different lengths. The screws are used to pass through the center hole of the pressure plate and then be threadedly connected with the center threaded hole of the variable tooth thickness gear on the variable tooth thickness gear. The pressure plate is pushed down by screwing the screws. The column is used to transmit power to the sealing end cover to overcome the interference elastic sealing fit between the elastic rubber of the outer ring of the sealing end cover and the casting press-fit hole.

[0009] The bottom surface of the pressure plate is provided with a plurality of cylindrical grooves along the circumferential direction, and the plurality of cylindrical grooves correspond one by one to the mounting holes on the variable tooth thickness gear, and the cylindrical grooves are used for axial and radial positioning of the column.

[0010] A recessed portion is provided in the middle of the pressure plate, the bottom surface of the recessed portion is the low-position positioning surface of the pressure plate, and the center hole of the pressure plate is located at the center of the recessed portion; the bottom of the pressure plate surrounding the recessed portion is the high-position positioning surface of the pressure plate, the high-position positioning surface of the pressure plate is parallel to the low-position positioning surface of the pressure plate, and the cylindrical groove is opened on the high-position positioning surface of the pressure plate.

[0011] The height of the recessed portion protruding downward is equal to the depth of the central process groove on the upper end surface of the variable tooth thickness gear.

[0012] The length of the column ensures that the distance from the initial position of the pressure plate high-position positioning surface of the pressure plate to the high-position end surface of the variable tooth thickness gear of the variable tooth thickness gear is greater than the matching depth between the sealing end cover and the casting press-fit hole.

[0013] The distance between the high-position positioning surface of the pressure plate and the low-position positioning surface of the pressure plate is equal to the distance between the high-position end surface of the variable tooth thickness gear and the low-position end surface of the variable tooth thickness gear.

[0014] The casting is provided with a plurality of casting process holes along the circumferential direction, and the plurality of casting process holes correspond to the mounting holes on the variable tooth thickness gear one by one and are coaxial.

[0015] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot seal non-destructive disassembly device, the process of disassembling the seal is simple and quick, there is no knocking sound during the implementation process, the seal will not be damaged, the product quality is improved, and the cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic structural diagram of a robot seal non-destructive disassembly device according to the utility model;

[0017] In the figure: 1-column, 2-pressure plate, 201-cylindrical groove, 202-pressure plate high position positioning surface, 203-pressure plate low position positioning surface, 204-pressure plate center hole, 3-screw, 4-variable tooth thickness gear, 401-mounting hole, 402-variable tooth thickness gear high position end face, 403-variable tooth thickness gear low position end face, 404-variable tooth thickness gear center threaded hole, 5-tapered roller bearing, 6-self-locking nut, 7-casting, 701-casting process hole, 702-casting press-fit hole, 8-seal end cover, 9-screwing depth, 10-remaining screwing depth. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 As shown, the utility model provides a robot seal non-destructive disassembly device, which is used to disassemble the seal end cover 8 installed at the end of the variable tooth thickness gear 4 at the robot joint. The seal end cover 8 cooperates with the casting pressing hole 702 of the casting 7. The device includes a pressure plate 2, a screw group and at least two columns 1. The column 1 passes through the mounting hole 401 on the variable tooth thickness gear 4, and one end is in contact with the seal end cover 8; the pressure plate 2 is used to contact with the other end of the column 1, and a pressure plate center hole 204 is provided on the pressure plate 2; the screw group includes at least two screws 3 of different lengths, the screw 3 is used to pass through the pressure plate center hole 204 and then be threadedly connected with the variable tooth thickness gear center threaded hole 404 on the variable tooth thickness gear 4, and the pressure plate 2 is pushed downward by screwing the screw 3, and the column 1 is used to transmit power to the seal end cover 8, thereby overcoming the interference elastic sealing fit between the elastic rubber of the outer ring of the seal end cover 8 and the casting pressing hole 702.

[0020] In the embodiment of the utility model, the variable tooth thickness gear 4 forms a rotary motion pair with the casting 7 through the tapered roller bearing 5, and the tapered roller bearing 5 is axially limited by the self-locking nut 6. A plurality of casting process holes 701 are provided on the casting 7 along the circumferential direction, and the plurality of casting process holes 701 correspond to the mounting holes 401 on the variable tooth thickness gear 4 one by one and are coaxial, and the diameter of the casting process hole 701 is larger than the diameter of the mounting hole 401, and the diameter of the mounting hole 401 is larger than the diameter of the column 1, so that the column 1 can pass through and move axially.

[0021] In the embodiment of the utility model, a plurality of cylindrical grooves 201 are provided on the bottom surface of the pressure plate 2 along the circumferential direction. The plurality of cylindrical grooves 201 correspond one by one to the mounting holes 401 on the variable tooth thickness gear 4. The cylindrical grooves 201 are used for axial and radial positioning of the column 1.

[0022] In the embodiment of the utility model, the length of the column 1 ensures that the distance from the initial position of the pressure plate 2 to the upper end surface of the variable tooth thickness gear 4 is greater than the fitting depth between the sealing end cover 8 and the casting pressing hole 702, so that the pressure plate 2 has sufficient downward travel to push the sealing end cover 8 to completely separate from the casting pressing hole 702.

[0023] Furthermore, a recessed portion is provided in the middle of the pressure plate 2, the bottom surface of the recessed portion is a pressure plate low-position positioning surface 203, and the pressure plate center hole 204 is located at the center of the recessed portion; the bottom of the pressure plate 2 surrounding the recessed portion is a pressure plate high-position positioning surface 202, the pressure plate high-position positioning surface 202 is parallel to the pressure plate low-position positioning surface 203, and a cylindrical groove 201 is opened on the pressure plate high-position positioning surface 202.

[0024] Specifically, the height of the concave portion protruding downward is equal to the depth of the central process groove on the upper end surface of the variable tooth thickness gear 4. The upper end surface of the variable tooth thickness gear 4 is defined as the high end surface 402 of the variable tooth thickness gear, and the inner bottom of the central process groove of the variable tooth thickness gear 4 is defined as the low end surface 403 of the variable tooth thickness gear. Then, the distance between the high position positioning surface 202 of the pressure plate and the low position positioning surface 203 of the pressure plate is equal to the distance between the high end surface 402 of the variable tooth thickness gear and the low end surface 403 of the variable tooth thickness gear. When the pressure plate 2 is in the initial position, the distance between the high position positioning surface 202 of the pressure plate and the high end surface 402 of the variable tooth thickness gear is equal to the distance between the low position positioning surface 203 of the pressure plate and the low end surface 403 of the variable tooth thickness gear, and is greater than the fitting depth of the sealing end cover 8 and the casting press-fit hole 702. When the pressure plate 2 moves downward until the pressure plate high positioning surface 202 and the variable tooth thickness gear high end surface 402 are in contact, the pressure plate low positioning surface 203 and the variable tooth thickness gear low end surface 403 are also in contact at the same time.

[0025] Furthermore, the casting process hole 701 of the casting 7, the mounting hole 401 on the variable tooth thickness gear 4, and the cylindrical groove 201 on the pressure plate 2 are radially positioned against the side of the column 1 to balance the rotational friction torque of the screw 3. The screw group is implemented in order from longer to shorter lengths, and the criterion for tightening a screw 3 in place is to tighten it to a sudden change in torque. After tightening it in place, remove it and replace it with a shorter screw 3 to achieve the purpose of length relay. The matching height between the sealing end cover 8 and the casting press-fit hole 702 of the casting 7 is resolved by the matching lengths of multiple screws of different lengths.

[0026] In this embodiment, the seal end cover 8 has the characteristics of an inner sheet metal thickness of about 0.8 mm and an outer NBR rubber, and the seal end cover 8 and the casting press-fit hole 701 of the casting 7 have a matching depth of 15 mm. This embodiment uses three columns 1, and the pressure plate 2 is a rotating workpiece, and the bottom surface is divided into three equal parts along the circumferential direction. The distance between the high-position positioning surface 202 of the pressure plate 2 and the high-position end surface 402 of the variable tooth thickness gear is 16 mm, and the distance between the low-position positioning surface 203 of the pressure plate 2 and the low-position end surface 403 of the variable tooth thickness gear is 16 mm. The lower ends of the three columns 1 pass through the mounting hole 401 on the variable tooth thickness gear 4 and the casting process hole 701 of the casting 7 in sequence, and there is a gap between the side walls of the three columns 1 and the mounting hole 401 and the casting process hole 701. The lower ends of the three columns 1 conflict with the inner side surface of the seal end cover 8. The three cylindrical grooves 201 evenly distributed on the pressure plate 2 are respectively fitted with the upper ends of the three pillars 1 , and there is a gap between the side walls of the cylindrical grooves 201 and the side walls of the pillars 1 .

[0027] The screwing depth of the center threaded hole 404 of the variable tooth thickness gear is 16mm, and the specification of the longer screw 3 is M8×30. The screw 3 passes through the center hole 204 of the pressure plate. The screw 3 is initially screwed with the center threaded hole 404 of the variable tooth thickness gear, and its initial screwing depth 9 is 8mm. The remaining screwing depth 10 of the screw 3 and the center threaded hole 404 of the variable tooth thickness gear is 8mm. Tighten the screw 3 with an Allen wrench, and the gap between the side walls of the three evenly distributed cylindrical grooves 201 of the pressure plate 2 and the side walls of the three columns 1 becomes a single-sided contact for rotational friction torque stop. After the screw 3, the pressure plate 2, the three columns 1 and the sealing end cover 8 are pushed downward by a standard screw length of 5mm relative to the casting pressing hole 701 of the casting 7, a screw with a smaller length specification, such as M8×25, is replaced, and the screwing operation is continued to make the sealing end cover 8 push out the standard screw length of 5mm relative to the casting pressing hole 701. Continue in this way, using the M8×20 screw 3, until the sealing end cover 8 is disengaged from the casting press-fit hole 701 of the casting 7.

[0028] The utility model provides a robot seal non-destructive disassembly device, which has a simple and quick process for disassembling the seal, no knocking sound during the implementation process, and no damage to the seal, thereby improving product quality and reducing costs.

[0029] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A robot seal non-destructive disassembly device, used for disassembling a seal end cap (8) installed at the end of a variable tooth thickness gear (4) at a robot joint, the seal end cap (8) being matched with a casting press-fit hole (702) of a casting (7), characterized in that: The device includes: At least two columns (1), the columns (1) passing through the mounting holes (401) on the variable tooth thickness gear (4), and one end of the columns (1) abutting against the sealing end cover (8); A pressure plate (2) is used to abut against the other end of the column (1), and a pressure plate center hole (204) is provided on the pressure plate (2); A screw assembly comprises at least two screws (3) of different lengths, wherein the screw (3) is used to pass through the center hole (204) of the pressure plate and then be threadedly connected with the center threaded hole (404) of the variable tooth thickness gear on the variable tooth thickness gear (4). The pressure plate (2) is pushed downward by screwing the screw (3). The column (1) is used to transmit power to the sealing end cover (8) to overcome the interference elastic sealing fit between the elastic rubber of the outer ring of the sealing end cover (8) and the casting pressing hole (702).

2. The robot seal non-destructive removal device according to claim 1, characterized in that: The bottom surface of the pressure plate (2) is provided with a plurality of cylindrical grooves (201) along the circumferential direction, the plurality of cylindrical grooves (201) correspond one-to-one to the mounting holes (401) on the variable tooth thickness gear (4), and the cylindrical grooves (201) are used for axial and radial positioning of the column (1).

3. The robot seal non-destructive removal device according to claim 2, characterized in that: The middle part of the pressure plate (2) is provided with a recessed portion, the bottom surface of the recessed portion is the pressure plate low-position positioning surface (203), and the pressure plate center hole (204) is located at the center of the recessed portion; the bottom of the pressure plate (2) surrounding the recessed portion is the pressure plate high-position positioning surface (202), the pressure plate high-position positioning surface (202) is parallel to the pressure plate low-position positioning surface (203), and the cylindrical groove (201) is opened on the pressure plate high-position positioning surface (202).

4. The robot seal non-destructive removal device according to claim 3, characterized in that: The height of the recessed portion protruding downward is equal to the depth of the central process groove on the upper end surface of the variable tooth thickness gear (4).

5. The robot seal non-destructive removal device according to claim 3, characterized in that: The length of the column (1) ensures that the distance from the initial position of the pressure plate high-position positioning surface (202) of the pressure plate (2) to the variable tooth thickness gear high-position end surface (402) of the variable tooth thickness gear (4) is greater than the matching depth between the sealing end cover (8) and the casting press-fit hole (702).

6. The robot seal non-destructive removal device according to claim 5, characterized in that: The distance between the high-position positioning surface (202) of the pressure plate and the low-position positioning surface (203) of the pressure plate is equal to the distance between the high-position end surface (402) of the variable tooth thickness gear and the low-position end surface (403) of the variable tooth thickness gear.

7. The robot seal non-destructive removal device according to claim 1, characterized in that: The casting (7) is provided with a plurality of casting process holes (701) along the circumferential direction, and the plurality of casting process holes (701) correspond one-to-one with the mounting holes (401) on the variable tooth thickness gear (4) and are coaxial.

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