Robot speed reducer switching structure

Abstract

The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot testing equipment, and particularly relates to a robot speed reducer switching structure. Comprising a speed reducer side rotary adapter, a first group of screws, a large arm side rotary adapter, a second group of screws and a third group of screws, and the speed reducer side rotary adapter is matched with a mechanical interface of a shoulder closing part speed reducer for positioning and is locked and fixed with the shoulder closing part speed reducer through the first group of screws; the big arm side rotary adapter is matched and positioned with the positioning interface of the big arm, and is locked and fixed with the big arm through a second group of screws; and the speed reducer side rotary adapter and the large arm side rotary adapter are positioned in a matched manner and are locked and fixed through a third group of screws. The speed reducer testing device is suitable for testing different types of speed reducers, is simple to operate, and improves the testing efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot testing equipment, and in particular relates to a robot reducer switching structure. Background Art

[0002] As a high-precision component, reducers are widely used in robots, robot arms, robot joints and other fields. They are one of the core components of robot power joints. The performance indicators of reducers, such as reducer accuracy, strength, stiffness, motion characteristics and other robot performance parameters, directly affect the robot's technical parameters such as positioning accuracy, grabbing torque and life. With the widespread application of robots, the demand for various types of reducers is also increasing. For the testing of reducers of different models, it is necessary to assemble the reducer of this model to the matching robot arm before testing. The replacement process is cumbersome, and the test bench station is occupied during clamping, which invisibly increases the total test time and has low test efficiency, thus affecting the overall output of the reducer. Therefore, the demand for rapid automated testing of various types of robot reducers is imminent. Utility Model Content

[0003] In view of the above problems, the purpose of the utility model is to provide a robot reducer switching structure to solve the problem that the traditional reducer test bench needs to be equipped with a matching robot arm for testing reducers of different models, the replacement process is cumbersome, and the testing efficiency is low.

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

[0005] The utility model provides a robot reducer switching structure, which is used for the connection switching of the upper arm and different shoulder reducers, including a reducer side rotary adapter, a first group of screws, an upper arm side rotary adapter, a second group of screws and a third group of screws, wherein the reducer side rotary adapter is positioned in cooperation with the mechanical interface of the shoulder reducer, and is locked and fixed with the shoulder reducer by the first group of screws; the upper arm side rotary adapter is positioned in cooperation with the positioning interface of the upper arm, and is locked and fixed with the upper arm by the second group of screws; the reducer side rotary adapter and the upper arm side rotary adapter are positioned in cooperation with each other, and are locked and fixed by the third group of screws.

[0006] The reducer side rotary adapter is a disc structure, and the inner end face and the outer end face are respectively provided with an inner stop structure and an outer stop structure, the inner stop structure is positioned in cooperation with the mechanical interface of the shoulder joint reducer, and the first group of screws is located on the inner side of the inner stop structure; the outer stop structure is positioned in cooperation with the upper arm side rotary adapter.

[0007] The inner stop structure includes an annular inner stop and an inner end surface located inside the inner stop, and the axial and radial positioning of the shoulder joint reducer is achieved through the inner end surface and the inner stop.

[0008] The outer stop structure includes an annular outer stop and an outer end surface located outside the outer stop, and the axial and radial positioning of the boom side rotary adapter is achieved through the outer end surface and the outer stop.

[0009] A plurality of inner light holes are provided in the middle of the reducer side rotary adapter, and the plurality of inner light holes are used for the first set of screws to pass through; a plurality of outer threaded holes are evenly distributed along the circumferential direction at the edge of the reducer side rotary adapter, and the plurality of outer threaded holes are used for threaded connection with the third set of screws.

[0010] The boom side rotary adapter is a disc structure, and the end faces on both sides are respectively provided with positioning protrusions and positioning grooves, wherein the positioning protrusion cooperates with the positioning interface of the boom to achieve axial and radial positioning, and the positioning protrusion is connected to the positioning interface of the boom through the second set of screws; the boom side rotary adapter fits with the end face of the reducer side rotary adapter, and cooperates with the outer stop structure of the reducer side rotary adapter through the positioning groove to achieve radial positioning.

[0011] A central through hole and a plurality of threaded connection holes surrounding the central through hole are provided on the positioning end face of the positioning protrusion, and the plurality of threaded connection holes are used for threaded connection with the second set of screws; a plurality of outer light holes are evenly distributed along the circumferential direction at the edge of the upper arm side rotary adapter, and the plurality of outer light holes are used for the third set of screws to pass through.

[0012] A plurality of through holes are provided on the positioning interface of the upper arm along the circumferential direction, and the second set of screws passes through the sealing gasket, the pressure reducing pad and the through holes in sequence to be connected with the upper arm side rotary adapter.

[0013] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot reducer switching structure, which realizes the docking and testing of different types of shoulder reducers using the existing robot arm structure through the positioning and coordination of the reducer side rotary adapter and the arm side rotary adapter. The positioning is reliable, suitable for testing reducers of different models, the operation is simple, and the testing efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an axonometric diagram of an existing six-degree-of-freedom vertical multi-jointed industrial robot;

[0015] Figure 2 It is an axonometric diagram of a novel six-degree-of-freedom vertical multi-joint industrial robot in the utility model;

[0016] Figure 3This is an exploded view of a robot reducer switching structure of the utility model;

[0017] Figure 4 It is a cross-sectional view of a robot reducer switching structure of the utility model.

[0018] In the figure: 1A-existing six-degree-of-freedom vertical multi-joint industrial robot, 1B-new six-degree-of-freedom vertical multi-joint industrial robot, 101-base, 102-waist seat, 103-upper arm, 104A-shoulder part Ⅰ, 1041A-shoulder part reducer Ⅰ, 105A-forearm Ⅰ, 106A-wrist Ⅰ, 107A-end flange Ⅰ, 104B-shoulder part Ⅱ, 1041B-shoulder part reducer Ⅱ, 10 5B-small arm II, 106B-wrist II, 107B-end flange II, 3-reducer side swivel adapter, 301-inner end face, 302-inner stop, 303-outer end face, 304-outer stop, 4-first set of screws, 5-big arm side swivel adapter, 501-positioning end face, 502-positioning protrusion, 503-positioning groove, 6-third set of screws, 7-pressure relief pad, 8-second set of screws, 9-sealing gasket. 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 Figure 1 As shown, the existing six-degree-of-freedom vertical multi-articular industrial robot 1A includes a base 101, a waist seat 102, an upper arm 103, a shoulder part Ⅰ104A, a forearm Ⅰ105A, a wrist Ⅰ106A and an end flange Ⅰ107A. There are driven axes between two adjacent parts of the seven components of the industrial robot, including one axis between the base 101 and the waist seat 102, two axes between the waist seat 102 and the upper arm 103, three axes between the upper arm 103 and the shoulder part Ⅰ104A, four axes between the shoulder part Ⅰ104A and the forearm Ⅰ105A, five axes between the forearm Ⅰ105A and the wrist Ⅰ106A, and six axes between the wrist Ⅰ106A and the end flange Ⅰ107A. The above six axes are the defined axes in the robot control mathematical model.

[0021] like Figure 2As shown, the new six-degree-of-freedom vertical multi-joint industrial robot 1B includes a base 101, a waist seat 102, an upper arm 103, a shoulder joint II 104B, a forearm II 105B, a wrist II 106B and an end flange II 107B. The existing six-degree-of-freedom vertical multi-joint industrial robot 1A and the new six-degree-of-freedom vertical multi-joint industrial robot 1B are similar in the base 101, the waist seat 102 and the upper arm 103, and are different in the shoulder joint, the forearm, the wrist and the end flange. The upper arm 103 is compatible with the mechanical interface of the shoulder joint reducer I 1041A of the shoulder joint I 104A, but is not compatible with the mechanical interface of the shoulder joint reducer II 1041B of the shoulder joint II 104B, and cannot be directly connected. Therefore, how to use the test system where the base 101, waist seat 102 and upper arm 103 of the existing six-degree-of-freedom vertical multi-articular industrial robot Ⅰ1A are located to switch and test different new robot components composed of shoulders, forearms, wrists and end flanges is a problem that needs to be solved.

[0022] like Figure 2-4 As shown, the utility model provides a robot reducer switching structure, which is used for connecting and switching between a large arm 103 and different shoulder reducers. The robot reducer switching structure includes a reducer side rotary adapter 3, a first set of screws 4, a large arm side rotary adapter 5, a second set of screws 8 and a third set of screws 6, wherein the reducer side rotary adapter 3 is positioned with the mechanical interface of the shoulder reducer, and is locked and fixed with the shoulder reducer through the first set of screws 4; the large arm side rotary adapter 5 is positioned with the positioning interface of the large arm 103, and is locked and fixed with the large arm 103 through the second set of screws 8; the reducer side rotary adapter 3 and the large arm side rotary adapter 5 are positioned with each other, and are locked and fixed through the third set of screws 6.

[0023] like Figure 3 , Figure 4 As shown, in the embodiment of the utility model, the reducer side rotary adapter 3 is a disc structure, and the inner end face and the outer end face are respectively provided with an inner stop structure and an outer stop structure, the inner stop structure is positioned in cooperation with the mechanical interface of the shoulder joint reducer, and the first group of screws 4 is located on the inner side of the inner stop structure; the outer stop structure is positioned in cooperation with the upper arm side rotary adapter 5.

[0024] Specifically, the inner stop structure includes an annular inner stop 302 and an inner end face 301 located inside the inner stop 302, and the axial and radial positioning of the shoulder reducer is achieved through the inner end face 301 and the inner stop 302. The outer stop structure includes an annular outer stop 304 and an outer end face 303 located outside the outer stop 304, and the axial and radial positioning of the boom side rotary adapter 5 is achieved through the outer end face 303 and the outer stop 304.

[0025] Specifically, a plurality of inner light holes are provided in the middle of the reducer side rotary adapter 3, and the plurality of inner light holes are used for the first set of screws 4 to pass through; a plurality of outer threaded holes are evenly distributed along the circumferential direction at the edge of the reducer side rotary adapter 3, and the plurality of outer threaded holes are used for threaded connection with the third set of screws 6.

[0026] like Figure 3 , Figure 4 As shown, in the embodiment of the utility model, the boom side rotary adapter 5 is a disc structure, and the end faces on both sides are respectively provided with positioning protrusions 502 and positioning grooves 503, wherein the positioning protrusions 502 cooperate with the positioning interface of the boom 103 to achieve axial and radial positioning, and the positioning protrusions 502 are connected to the positioning interface of the boom 103 through the second set of screws 8; the boom side rotary adapter 5 is fitted with the end face of the reducer side rotary adapter 3, and the radial positioning is achieved by cooperating with the outer stop structure of the reducer side rotary adapter 3 through the positioning groove 503.

[0027] Specifically, a central through hole and a plurality of threaded connection holes surrounding the central through hole are provided on the positioning end face 501 of the positioning protrusion 502, and the plurality of threaded connection holes are used for threaded connection with the second set of screws 8; a plurality of outer light holes are evenly distributed along the circumferential direction at the edge of the upper arm side rotary adapter 5, and the plurality of outer light holes are used for the third set of screws 6 to pass through.

[0028] Furthermore, a plurality of through holes are provided on the positioning interface of the upper arm 103 along the circumferential direction, and the second set of screws 8 pass through the sealing gasket 9, the pressure relief pad 7 and the through holes in sequence to connect with the upper arm side rotary adapter 5. The upper arm 103 is a low-pressure cast aluminum alloy, so the pressure relief pad 7 made of 45# steel is used to disperse the locking pressure of the second set of screws 8 to prevent the cast aluminum alloy from being crushed by the second set of screws 8.

[0029] Furthermore, the robot reducer switching structure provided by the utility model also has a sealing structure, and the inner end face 301, the outer end face 303, the positioning end face 501, the pressure relief pad 7 and the upper arm contact side can be sealed with sealant. The second set of screws 8 and the pressure relief pad 7 are sealed with a sealing gasket 9. The sealing gasket 9 is a threaded fixed sealing gasket of Misumi brand and model GSWM12. The sealing principle is an external annular steel gasket with a nitrile rubber sealing structure inside.

[0030] The utility model provides a robot reducer switching structure, which realizes docking and testing of different types of shoulder reducers using the existing robot arm structure through the positioning and coordination of the reducer side rotary adapter and the arm side rotary adapter. The positioning is reliable, suitable for testing reducers of different models, simple to operate, and improves testing efficiency.

[0031] 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 reducer switching structure, used for connecting and switching between a large arm (103) and reducers at different shoulder joints, characterized in that: The invention comprises a reducer side rotary adapter (3), a first set of screws (4), a boom side rotary adapter (5), a second set of screws (8) and a third set of screws (6), wherein the reducer side rotary adapter (3) is positioned in cooperation with the mechanical interface of the shoulder joint reducer and is locked and fixed to the shoulder joint reducer by the first set of screws (4); the boom side rotary adapter (5) is positioned in cooperation with the positioning interface of the boom (103) and is locked and fixed to the boom (103) by the second set of screws (8); the reducer side rotary adapter (3) and the boom side rotary adapter (5) are positioned in cooperation with each other and are locked and fixed by the third set of screws (6).

2. The robot speed reducer switching structure according to claim 1, characterized in that: The reducer side rotary adapter (3) is a disc structure, and the inner end face and the outer end face are respectively provided with an inner stop structure and an outer stop structure, the inner stop structure is positioned in cooperation with the mechanical interface of the shoulder joint reducer, and the first set of screws (4) is located on the inner side of the inner stop structure; the outer stop structure is positioned in cooperation with the upper arm side rotary adapter (5).

3. The robot speed reducer switching structure according to claim 2, characterized in that: The inner stop structure comprises an annular inner stop (302) and an inner end surface (301) located inside the inner stop (302), and the axial and radial positioning of the shoulder joint reducer is achieved through the inner end surface (301) and the inner stop (302).

4. The robot speed reducer switching structure according to claim 2, characterized in that: The outer stop structure comprises an annular outer stop (304) and an outer end surface (303) located outside the outer stop (304), and the axial and radial positioning of the boom side rotary adapter (5) is achieved through the outer end surface (303) and the outer stop (304).

5. The robot speed reducer switching structure according to claim 2, characterized in that: A plurality of inner light holes are provided in the middle of the reducer side rotary adapter (3), and the plurality of inner light holes are used for the first set of screws (4) to pass through; a plurality of outer threaded holes are evenly distributed along the circumferential direction at the edge of the reducer side rotary adapter (3), and the plurality of outer threaded holes are used for threaded connection with the third set of screws (6).

6. The robot speed reducer switching structure according to claim 2, characterized in that: The upper arm side rotary adapter (5) is a disc structure, and the end faces on both sides are respectively provided with a positioning protrusion (502) and a positioning groove (503), wherein the positioning protrusion (502) cooperates with the positioning interface of the upper arm (103) to achieve axial and radial positioning, and the positioning protrusion (502) is connected to the positioning interface of the upper arm (103) through the second set of screws (8); the upper arm side rotary adapter (5) is fitted with the end face of the reducer side rotary adapter (3), and the positioning groove (503) cooperates with the outer stop structure of the reducer side rotary adapter (3) to achieve radial positioning.

7. The robot speed reducer switching structure according to claim 6, characterized in that: The positioning end surface (501) of the positioning protrusion (502) is provided with a central through hole and a plurality of threaded connection holes surrounding the central through hole, and the plurality of threaded connection holes are used for threaded connection with the second set of screws (8); the edge of the upper arm side rotary adapter (5) is evenly distributed along the circumferential direction with a plurality of outer light holes, and the plurality of outer light holes are used for the third set of screws (6) to pass through.

8. The robot speed reducer switching structure according to claim 6, characterized in that: A plurality of through holes are provided on the positioning interface of the upper arm (103) along the circumferential direction, and the second set of screws (8) pass through the sealing gasket (9), the pressure relief pad (7) and the through holes in sequence to be connected to the upper arm side rotary adapter (5).

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