Robot joint dynamic seal control shaft guiding 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 joint dynamic seal control shaft guiding device. Comprising an inner ring piece, an outer ring piece and a pressing cylinder, the outer ring piece is arranged on the outer side of the inner ring piece in a sleeving mode and is in sliding fit with the inner ring piece, the lower end of the outer ring piece is in positioning connection with a six-degree-of-freedom vertical multi-joint type industrial robot casting, and the upper end face of the outer ring piece is attached to the lower end face of a box type sealing piece; the upper end of the inner ring piece extends out of the outer ring piece and is in positioning connection with the output gear shaft, and the pressing cylinder is used for applying axial press-fitting force above the output gear shaft, so that the output gear shaft is assembled into an inner hole of the box type sealing piece in an interference mode. Centering and guiding are carried out through the outer ring piece, assembling force of relative movement cannot be generated between the box-type sealing inner ring and the box-type sealing outer ring, the inner thin-wall plate shell structures of the box-type sealing inner ring and the box-type sealing outer ring cannot be damaged, the assembling quality and the success rate of products are improved, and ergonomics is combined.

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 joint dynamic seal control shaft guide device. Background Art

[0002] The application of six-degree-of-freedom vertical multi-joint industrial robots is becoming more and more widespread. In order to increase the environmental adaptability of robots, some models of rotary joints have begun to use cassette rotary seals. Cassette rotary seals have the function of rotating and removing external particles. Therefore, robots using cassette rotary seals can have stronger environmental adaptability than existing robots using skeleton oil seals, and can be used in more fields and scopes.

[0003] The cassette seal includes a cassette seal inner ring and a cassette seal outer ring. The inner surface of the cassette seal inner ring forms a cylindrical static seal with the robot joint shaft, and the cassette seal outer ring forms a cylindrical static seal with the robot casting. The unique structure of the rotary dynamic seal between the cassette seal inner ring and the cassette seal outer ring can adapt to environments with many hard particles and dust.

[0004] However, the use of cassette seals in robots brings many advantages, but also puts forward higher requirements and challenges for assembly. At present, the assembly of joint shafts and cassette seals is generally carried out by manual pressing. During the manual pressing assembly process, it is difficult to ensure the coaxiality of the pressed joint shaft and the casting hole. The radial assembly force of relative movement is easily generated between the inner ring of the cassette seal and the outer ring of the cassette seal, and the thin-walled plate shell structure inside the inner ring of the cassette seal is easily damaged, which affects the assembly accuracy and service life of the cassette seal. Therefore, a robot joint dynamic seal control shaft guide device is urgently needed. Utility Model Content

[0005] In view of the above problems, the purpose of the utility model is to provide a robot joint dynamic seal control shaft guide device to solve the problem that the existing shaft hole assembly using manual pressing method affects the assembly accuracy and service life of the cassette seal.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The utility model provides a robot joint dynamic seal control shaft guide device, which is used for the assembly guidance of an output gear shaft and a cassette seal on a six-degree-of-freedom vertical multi-joint industrial robot casting. The robot joint dynamic seal control shaft guide device comprises an inner ring, an outer ring and a pressing cylinder, wherein the outer ring is sleeved on the outer side of the inner ring and slidably matched with the inner ring, the lower end of the outer ring is positioned and connected with the six-degree-of-freedom vertical multi-joint industrial robot casting, and the upper end face of the outer ring is fitted with the lower end face of the cassette seal; the upper end of the inner ring extends out from the outer ring and is positioned and connected with the output gear shaft, and the pressing cylinder is used to apply an axial pressing force above the output gear shaft so that the output gear shaft is interference fitted into the inner hole of the cassette seal.

[0008] A positioning hole coaxial with the cassette seal is provided on the six-degree-of-freedom vertical multi-joint industrial robot casting, and the inner wall of the positioning hole is a positioning inner annular surface;

[0009] The outer circumference of the lower end of the outer ring is fitted with the positioning inner ring surface to form a cylindrical centering fit, and the axis of the outer ring coincides with the axis of the box-type sealing element.

[0010] The positioning hole is arranged on the processing surface, and the processing surface and the lower end surface of the outer ring are coplanar and both are in contact with the workbench of the press.

[0011] The upper end face of the outer ring member includes an upper end face II and an upper end face I which are arranged in sequence from the inside to the outside. The height of the upper end face II is smaller than the height of the upper end face I. The upper end face I is used for axial positioning of the cassette seal inner ring of the cassette seal; the upper end face II is used for axial positioning of the output gear shaft after being assembled in place.

[0012] The upper end of the inner ring is plug-fitted with a positioning groove provided on the lower end surface of the output gear shaft, and is fixedly connected to the output gear shaft by screws.

[0013] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot joint dynamic seal control shaft guide device, which performs centering and guiding through the cooperation of the outer ring and the inner ring during the assembly process, and no relative movement assembly force is generated between the cassette seal inner ring and the cassette seal outer ring, and no damage is caused to the internal thin-walled plate shell structure of the cassette seal inner ring and the cassette seal outer ring, thereby improving the assembly quality and success rate of the product and achieving ergonomics. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural schematic diagram of a robot joint dynamic seal control shaft guide device before press-fitting;

[0015] Figure 2 for Figure 1 A partial enlarged view of the middle part;

[0016] Figure 3 This is a schematic diagram of the structure of a robot joint dynamic seal control shaft guide device after being pressed into place;

[0017] Figure 4 for Figure 3 A partial enlarged view of point B in the middle.

[0018] In the figure: 1-six-degree-of-freedom vertical multi-joint industrial robot casting, 101-machining surface, 102-positioning inner ring surface, 2-cassette seal, 201-cassette seal inner ring, 202-cassette seal outer ring, 203-seal inner ring surface, 3-inner ring member, 301-outer cylindrical surface, 4-output gear shaft, 401-inner ring surface, 402-outer ring surface, 403-inner end surface, 404-outer end surface, 405-, 5-outer ring member, 501-lower end surface, 502-upper end surface I, 503-upper end surface II, 6-pressing cylinder, 7-screw. DETAILED DESCRIPTION

[0019] 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.

[0020] like Figures 1 to 4 As shown, the utility model provides a robot joint dynamic seal control shaft guide device, which is used for the assembly guide of the output gear shaft 4 and the cassette seal 2 on the six-degree-of-freedom vertical multi-joint industrial robot casting 1. The robot joint dynamic seal control shaft guide device includes an inner ring 3, an outer ring 5 and a pressing cylinder 6, wherein the outer ring 5 is sleeved on the outside of the inner ring 3 and slidably matched with the inner ring 3, the lower end of the outer ring 5 is positioned and connected with the six-degree-of-freedom vertical multi-joint industrial robot casting 1, and the upper end face of the outer ring 5 is in contact with the lower end face of the cassette seal 2; the upper end of the inner ring 3 extends from the outer ring 5 and is positioned and connected with the output gear shaft 4, and the pressing cylinder 6 is used to apply an axial pressing force above the output gear shaft 4, so that the output gear shaft 4 is interference-fitted into the inner hole of the cassette seal 2.

[0021] like Figure 1 As shown, in the embodiment of the utility model, a positioning hole coaxial with the cassette seal 2 is provided on the six-degree-of-freedom vertical multi-joint industrial robot casting 1, and the inner wall of the positioning hole is a positioning inner ring surface 102. The outer circumference of the lower end of the outer ring 5 fits with the positioning inner ring surface 102 to form a cylindrical centering fit, and the axis of the outer ring 5 coincides with the axis of the cassette seal 2.

[0022] Furthermore, a machining surface 101 is provided on the outer side of the six-degree-of-freedom vertical multi-jointed industrial robot casting 1, and positioning holes are opened on the machining surface 101. The machining surface 101 and the lower end surface 501 of the outer ring 5 are coplanar and both are positioned in contact with the press workbench.

[0023] like Figure 2 , Figure 4 As shown, in the embodiment of the utility model, the cassette seal 2 includes a cassette seal inner ring 201 and a cassette seal outer ring 202. The upper end surface of the outer ring 5 includes an upper end surface II503 and an upper end surface I502 arranged in sequence from the inside to the outside, the height of the upper end surface II503 is less than the height of the upper end surface I502, the upper end surface I502 is in contact with the lower end surface of the cassette seal inner ring 201 of the cassette seal 2, and the upper end surface I502 is used to axially position the cassette seal inner ring 201; the upper end surface II503 is used to axially position the output gear shaft 4 after being assembled in place.

[0024] Furthermore, the upper end of the inner ring 3 is plugged into the positioning groove provided on the lower end surface of the output gear shaft 4, and is fixedly connected to the output gear shaft 4 by screws 7. Specifically, the positioning groove includes an inner ring surface 401 and an inner end surface 403, the inner ring surface 401 forms a cylindrical centering fit with the outer cylindrical surface 301 of the inner ring 3, and the inner end surface 403 is fitted and positioned with the upper end surface of the inner ring 3 to ensure that the axis of the output gear shaft 4 coincides with the axis of the cassette seal 2. An upper inner end surface 405 is provided on the inner side of the upper end of the output gear shaft 4, and the pressing cylinder 6 is placed on the upper inner end surface 405, and a pressing force is applied above the pressing cylinder 6 by an external press having a press workbench.

[0025] The utility model provides a robot joint dynamic seal control shaft guide device, and its working process is:

[0026] The upper end of the pressing cylinder 6 provides a press-fitting force through the press machine, and the pressing cylinder 6 transmits the press-fitting force to the upper inner end surface 405 of the output gear shaft 4, and the output gear shaft 4 slowly descends into the inner hole of the cassette seal 2. The outer ring surface 402 at the lower end of the output gear shaft 4 is in interference fit with the sealing inner ring surface 203 of the cassette seal inner ring 201. Because the upper end surface Ⅰ502 of the outer ring 5 is in contact with the lower end surface of the cassette seal inner ring 201, during the press-fitting process, the cassette seal inner ring 201 and the cassette seal outer ring 202 are not subjected to relative force or relative movement. When the outer ring surface 402 at the lower end of the output gear shaft 4 is in interference fit with the sealing inner ring surface 203 of the cassette seal inner ring 201 and is press-fitted into place, the outer end surface 404 at the lower end of the output gear shaft 4 is in contact with the upper end surface Ⅱ503 of the outer ring 5, realizing press-fit stop positioning.

[0027] The utility model provides a robot joint dynamic seal control shaft guide device, which performs centering and guiding through the cooperation of an outer ring member and an inner ring member during the assembly process, and does not generate an assembly force of relative movement between the cassette seal inner ring and the cassette seal outer ring, nor does it damage the internal thin-walled plate shell structure of the cassette seal inner ring and the cassette seal outer ring, thereby improving the assembly quality and success rate of the product and achieving ergonomics.

[0028] 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 joint dynamic seal control shaft guide device, used for assembly and guiding the output gear shaft (4) and the cassette seal (2) on the six-degree-of-freedom vertical multi-joint industrial robot casting (1), characterized in that: The robot joint dynamic seal control shaft guide device comprises an inner ring member (3), an outer ring member (5) and a pressing cylinder (6), wherein the outer ring member (5) is sleeved on the outer side of the inner ring member (3) and slidably matched with the inner ring member (3), the lower end of the outer ring member (5) is positioned and connected with a six-degree-of-freedom vertical multi-joint industrial robot casting (1), and the upper end surface of the outer ring member (5) is in contact with the lower end surface of a cassette seal (2); the upper end of the inner ring member (3) extends out from the outer ring member (5) and is positioned and connected with an output gear shaft (4), and the pressing cylinder (6) is used to apply an axial pressing force above the output gear shaft (4) so ​​that the output gear shaft (4) is interference-fitted into the inner hole of the cassette seal (2).

2. The robot joint dynamic seal control shaft guide device according to claim 1, characterized in that: The six-degree-of-freedom vertical multi-joint industrial robot casting (1) is provided with a positioning hole coaxial with the box-type sealing element (2), and the inner wall of the positioning hole is a positioning inner annular surface (102); The outer circumference of the lower end of the outer ring member (5) fits with the positioning inner ring surface (102) to form a cylindrical centering fit, and the axis of the outer ring member (5) coincides with the axis of the box-type sealing member (2).

3. The robot joint dynamic seal control shaft guide device according to claim 2, characterized in that: The positioning hole is formed on the processing surface (101), and the processing surface (101) and the lower end surface (501) of the outer ring member (5) are coplanar and both fit the workbench of the press.

4. The robot joint dynamic seal control shaft guide device according to claim 2, characterized in that: The upper end face of the outer ring member (5) includes an upper end face II (503) and an upper end face I (502) which are arranged in sequence from the inside to the outside, the height of the upper end face II (503) is smaller than the height of the upper end face I (502), the upper end face I (502) is used for axial positioning of the cassette seal inner ring (201) of the cassette seal (2), and the upper end face II (503) is used for axial positioning of the output gear shaft (4) after being assembled in place.

5. The robot joint dynamic seal control shaft guide device according to claim 2, characterized in that: The upper end of the inner ring member (3) is plug-fitted into a positioning groove provided on the lower end surface of the output gear shaft (4), and is fixedly connected to the output gear shaft (4) via screws (7).

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