Robot joint dynamic sealing hole 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 sealing hole guiding device. Comprising a pressing cylinder, an inner ring piece, a middle ring piece and an outer ring piece, the inner ring piece, the middle ring piece and the outer ring piece are sequentially in sliding fit from inside to outside, one end of the inner ring piece is in positioning fit with an axial positioning spigot ring face of a sealing hole, and the outer diameter of the middle ring piece is the same as that of a box type sealing piece; the outer circumferential face of the pressing cylinder is in sliding fit with the inner circumferential face of the outer ring piece, the pressing cylinder is used for transmitting external press-fitting force, the box-type sealing piece is pressed into the sealing hole, and the box-type sealing piece is in interference fit with the sealing installation ring face. Accurate guiding is carried out through the positioning ring assembly, and the assembly accuracy is improved; annular press-fitting force is provided through the pressing cylinder and the middle ring piece, so that assembling force for relative movement is not generated between the box type sealing inner ring and the box type sealing outer ring, knocking force is not generated, and the assembling quality and the success rate of products 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 joint dynamic sealing hole 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 joint shafts have begun to use cassette seals for rotary dynamic seals. Cassette seals have the function of rotating and removing external particles. Therefore, robots using cassette seals can have stronger environmental adaptability than existing robots using skeleton oil seals and can be used in more fields and ranges.

[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 outer surface of 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 multiple hard particles and dust.

[0004] However, the use of cassette seals by robots brings many advantages, but also puts forward higher requirements and challenges for assembly. At present, the assembly of cassette seals and holes is generally carried out by knocking. During the knocking assembly process, the inner ring of the cassette seal and the casting hole cannot be guaranteed to be coaxial throughout the whole process. Therefore, during the knocking assembly process, the assembly force of relative movement between the inner ring of the cassette seal and the outer ring of the cassette seal is easy to be generated, and the internal thin-walled plate shell structure of the inner ring of the cassette seal and the outer ring of the cassette seal is easy to be damaged, which affects the assembly accuracy and service life of the cassette seal. Therefore, a robot joint dynamic seal hole 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 sealing hole guide device to solve the problem that during the assembly process of box-type seals by knocking, relative motion assembly force and knocking force are easily generated, affecting the assembly accuracy and service life of the box-type seals.

[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 sealing hole guide device, which is used for the assembly guidance of a cassette seal and a sealing hole on a six-degree-of-freedom vertical multi-joint industrial robot casting. The sealing hole is a stepped hole, comprising an axial positioning stop ring surface and a sealing installation ring surface. The robot joint dynamic sealing hole guide device comprises a pressing cylinder and a centering guide ring assembly. The centering guide ring assembly comprises an inner ring member, a middle ring member and an outer ring member which are slidably matched from the inside to the outside in sequence, wherein one end of the inner ring member is positioned and matched with the axial positioning stop ring surface of the sealing hole, the lower end face of the middle ring member is in contact with the cassette seal, the outer diameter of the middle ring member is the same as the outer diameter of the cassette seal, the pressing cylinder is arranged above the middle ring member, and the outer circumferential surface of the pressing cylinder is slidably matched with the inner circumferential surface of the outer ring member, the pressing cylinder is used to transmit an external pressing force, and the middle ring member is used to provide an annular pressing force, the cassette seal is pressed into the sealing hole, and the cassette seal is interference matched with the sealing installation ring surface.

[0008] The processing surface of the six-degree-of-freedom vertical multi-joint industrial robot casting is placed on a press workbench, and the sealing hole is opened on the processing surface.

[0009] The inner ring is a stepped shaft structure, including a large diameter cylinder and a small diameter cylinder. The small diameter cylinder passes through the sealing hole, and the large diameter cylinder fits with the axial positioning stop ring surface of the sealing hole to form a cylindrical centering fit; the lower end face of the inner ring fits with the press workbench.

[0010] The inner diameter of the pressing cylinder is larger than the outer diameter of the inner ring; a height stop surface is provided at the inner lower part of the pressing cylinder, and the height stop surface cooperates with the upper end surface of the inner ring to stop and control the pressing depth of the cassette seal.

[0011] The distance between the height stop surface and the lower end surface of the pressing cylinder ensures that there is a gap between the box seal and the inner stop surface of the sealing hole after the box seal is pressed into place, and the gap is used to compensate for the axial height dimension tolerance of the box seal.

[0012] The inner hole of the outer ring is loosely matched with the cassette seal outer ring of the cassette seal. The inner diameter of the middle ring is smaller than the inner diameter of the cassette seal.

[0013] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot joint dynamic sealing hole guide device, which, during the assembly process of the cassette seal, performs centering and precise guiding through a centering guide ring assembly, thereby improving assembly accuracy; an annular pressing force is provided through a pressing cylinder and a middle ring member, so that no relative movement assembly force is generated between the cassette seal inner ring and the cassette seal outer ring, and no knocking force is generated, thereby improving the assembly quality and success rate of the product and integrating ergonomics. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

[0018] In the figure: 1-six-degree-of-freedom vertical multi-jointed industrial robot casting, 101-machining surface, 102-axial positioning stop ring surface, 103-seal installation ring surface, 2-cassette seal, 201-cassette seal inner ring, 202-cassette seal outer ring, 3-inner ring part, 301-large diameter cylinder, 302-small diameter cylinder, 4-middle ring part, 401-outer cylinder, 5-outer ring part, 501-inner hole, 6-pressing cylinder, 601-height stop surface, 7-pressing machine workbench. 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 sealing hole guide device, which is used for the assembly guidance of a cassette seal 2 and a sealing hole on a six-degree-of-freedom vertical multi-joint industrial robot casting 1. The sealing hole is a stepped hole, comprising an axial positioning stop ring surface 102 and a sealing installation ring surface 103. The diameter of the sealing installation ring surface 103 is larger than the diameter of the axial positioning stop ring surface 102. The robot joint dynamic sealing hole guide device includes a pressing cylinder 6 and a centering guide ring assembly, and the centering guide ring assembly includes an inner ring part 3, a middle ring part 4 and an outer ring part 5 that slide together in sequence from the inside to the outside, wherein one end of the inner ring part 3 is positioned and matched with the axial positioning stop ring surface 102 of the sealing hole, the lower end surface of the middle ring part 4 is in contact with the cassette seal 2, the outer diameter of the middle ring part 4 is the same as the outer diameter of the cassette seal 2, the pressing cylinder 6 is arranged above the middle ring part 4, and the outer circumferential surface of the pressing cylinder 6 is slidably matched with the inner circumferential surface of the outer ring part 5, the pressing cylinder 6 is used to transmit external pressing force, and the middle ring part 4 is used to provide annular pressing force, and the middle ring part 4 presses the cassette seal 2 into the sealing hole through the annular pressing force, and the cassette seal 2 is interference fit with the sealing installation ring surface 103.

[0021] like Figure 1As shown, in the embodiment of the utility model, the processing surface 101 of the six-degree-of-freedom vertical multi-joint industrial robot casting 1 is placed on the press worktable 7, the processing surface 101 is a positioning plane, and the sealing hole is opened on the processing surface 101. In this embodiment, the external press force is provided by the press machine including the press worktable 7.

[0022] like Figure 1 , Figure 2 As shown, in the embodiment of the utility model, the lower end surface of the inner ring member 3 is fitted with the press worktable 7. The inner ring member 3 is a stepped shaft structure, comprising a large diameter cylinder 301 and a small diameter cylinder 302, the small diameter cylinder 302 passes through the sealing hole, and the large diameter cylinder 301 is fitted with the axial positioning stop ring surface 102 of the sealing hole to form a cylindrical surface centering fit. The small diameter cylinder 302 of the inner ring member 3 forms a cylindrical surface centering fit with the inner hole of the middle ring member 4, and the outer cylinder 401 of the middle ring member 4 forms a cylindrical surface centering fit with the inner hole 501 of the outer ring member 5. The inner hole 501 of the outer ring member 5 is concentric with the sealing mounting ring surface 103 of the six-degree-of-freedom vertical multi-joint industrial robot casting 1.

[0023] Specifically, the cassette seal 2 comprises a cassette seal inner ring 201 and a cassette seal outer ring 202, and the inner hole 501 of the outer ring 5 is loosely matched with the cassette seal outer ring 202 of the cassette seal 2. The loosely matched state means that the cassette seal 2 can be installed into the inner hole 501 manually, but the cassette seal 2 will not fall due to gravity. The diameter tolerance of the inner hole 501 of the outer ring 5 is designed according to the above-mentioned installation process requirements, so that the inner hole 501 of the outer ring 5 maintains the assembly posture of the cassette seal 2.

[0024] Furthermore, the inner diameter of the middle ring 4 is smaller than the inner diameter of the cassette seal 2, so that the lower end surface of the middle ring 4 completely covers the upper end surface of the cassette seal 2, ensuring that the cassette seal inner ring 201 and the cassette seal outer ring 202 move downward synchronously without generating relative movement.

[0025] like Figure 1 , Figure 3 As shown, in the embodiment of the utility model, the inner diameter of the pressing cylinder 6 is larger than the outer diameter of the inner ring member 3; a height stop surface 601 is provided at the inner lower part of the pressing cylinder 6, and the height stop surface 601 cooperates with the upper end surface of the inner ring member 3 to stop and control the pressing depth of the box seal 2.

[0026] Furthermore, the distance between the height stop surface 601 and the lower end surface of the pressing cylinder 6 ensures that there is a gap 203 between the cassette seal 2 and the inner stop surface of the sealing hole after the cassette seal 2 is pressed into place. The gap 203 is used to compensate for the axial height dimension tolerance of the cassette seal 2. Figure 4In this embodiment, the cassette seals (English name: Cassette Seals) are commercially available products, the brand used is: Dichtomatik Sales Center, the model specification is 150-180-14.5 / 16.

[0027] The utility model provides a robot joint dynamic sealing hole guide device, and its working process is:

[0028] After the press machine provides pressure, the pressing cylinder 6 transmits the pressing force to the middle ring 4, causing the middle ring 4 to slide downward relative to the inner ring 3 and the outer ring 5, and the lower end face of the middle ring 4 contacts the upper end face of the cassette seal 2. Because the cassette seal outer ring 202 of the cassette seal 2 is loosely matched with the inner hole 501 of the outer ring 5, the cassette seal 2 as a whole slowly descends to enter the sealing hole. When the height stop surface 601 in the pressing cylinder 6 is stopped with the upper end face of the inner ring 3, the cassette seal 2 is pressed into place. At this time, the cassette seal outer ring 202 of the cassette seal 2 is interference fit with the sealing installation ring surface 103, and there is a gap 203 between the lower end face of the cassette seal 2 and the inner stop surface of the sealing hole, and the gap 203 can accommodate the axial height dimension tolerance of the cassette seal 2.

[0029] The utility model provides a robot joint dynamic sealing hole guide device. During the assembly process of a cassette seal, centering and precise guiding are performed through a centering guide ring assembly, thereby improving assembly accuracy. An annular pressing force is provided by a pressing cylinder and a middle ring member, so that no relative movement assembly force is generated between the cassette seal inner ring and the cassette seal outer ring, and no knocking force is generated, thereby improving the assembly quality and success rate of the product and achieving ergonomics.

[0030] 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 sealing hole guide device, used for the assembly guidance of a cassette seal (2) and a sealing hole on a six-degree-of-freedom vertical multi-jointed industrial robot casting (1), wherein the sealing hole is a stepped hole, comprising an axial positioning stop ring surface (102) and a sealing installation ring surface (103), characterized in that: The robot joint dynamic sealing hole guide device comprises a pressing cylinder (6) and a centering guide ring assembly, wherein the centering guide ring assembly comprises an inner ring member (3), a middle ring member (4) and an outer ring member (5) which are slidably matched from the inside to the outside in sequence, wherein one end of the inner ring member (3) is positioned and matched with the axial positioning stop ring surface (102) of the sealing hole, the lower end surface of the middle ring member (4) is in contact with the cassette seal (2), the outer diameter of the middle ring member (4) is the same as the outer diameter of the cassette seal (2), the pressing cylinder (6) is arranged above the middle ring member (4), and the outer circumferential surface of the pressing cylinder (6) is slidably matched with the inner circumferential surface of the outer ring member (5), the pressing cylinder (6) is used to transmit external pressing force, and the middle ring member (4) is used to provide annular pressing force, so that the cassette seal (2) is pressed into the sealing hole, and the cassette seal (2) is interference fit with the sealing installation ring surface (103).

2. The robot joint dynamic sealing hole guide device according to claim 1, characterized in that: The processing surface (101) of the six-degree-of-freedom vertical multi-joint industrial robot casting (1) is placed on a press workbench (7), and the sealing hole is opened on the processing surface (101).

3. The robot joint dynamic sealing hole guide device according to claim 2, characterized in that: The inner ring component (3) is a stepped shaft structure, comprising a large diameter cylindrical surface (301) and a small diameter cylindrical surface (302); the small diameter cylindrical surface (302) passes through the sealing hole, and the large diameter cylindrical surface (301) fits with the axial positioning stop ring surface (102) of the sealing hole to form a cylindrical surface centering fit; the lower end surface of the inner ring component (3) fits with the press workbench (7).

4. The robot joint dynamic sealing hole guide device according to claim 1, characterized in that: The inner diameter of the pressing cylinder (6) is greater than the outer diameter of the inner ring member (3); a height stop surface (601) is provided at the inner lower part of the pressing cylinder (6), and the height stop surface (601) cooperates with the upper end surface of the inner ring member (3) to stop and control the pressing depth of the box-type sealing member (2).

5. The robot joint dynamic sealing hole guide device according to claim 4, characterized in that: The distance between the height stop surface (601) and the lower end surface of the pressing cylinder (6) ensures that there is a gap (203) between the box seal (2) and the inner stop surface of the sealing hole after the box seal (2) is pressed into place, and the gap (203) is used to compensate for the axial height dimension tolerance of the box seal (2).

6. The robot joint dynamic sealing hole guide device according to claim 1, characterized in that: The inner hole (501) of the outer ring member (5) and the box-type sealing outer ring (202) of the box-type sealing member (2) are loosely matched.

7. The robot joint dynamic sealing hole guide device according to claim 1, characterized in that: The inner diameter of the middle ring (4) is smaller than the inner diameter of the box-type sealing element (2).

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