Joint actuator end cap assembly gluing and tightening device

Abstract

The utility model discloses a kind of joint executor end cover assembly gluing and tightening device, including workbench and the end cover assembly clamping device of being arranged on it, glue storage device, screw supply device and gluing and tightening execution device.Gluing and tightening execution device includes mechanical arm and the operation execution component of its end, this component integrates gluing unit and tightening unit.Gluing unit realizes accurate gluing by gluing pump and first linear guide;Tightening unit completes screw suction and tightening by tightening module and second linear guide, two linear guides are parallel to each other.End cover assembly clamping device is reliably fixed using three-jaw pneumatic cylinder with positioning seat and jaw combination to realize reliable fixing.The utility model realizes the automation of gluing and screw tightening operation in end cover assembly assembly process, effectively improves assembly efficiency and quality consistency, reduces labor cost.

Description

Technical Field

[0001] This utility model belongs to the field of joint actuator technology, specifically a joint actuator end cap assembly adhesive application and tightening device. Background Technology

[0002] As the core power component of a robot system, the joint actuator plays a crucial role in converting electrical energy into mechanical motion. Its performance directly affects the robot's motion accuracy, load capacity, response speed, and overall reliability. From a technical perspective, a typical joint actuator usually consists of modules such as a drive motor, a reduction mechanism, a sensor system, and a control unit. These components are precisely integrated to achieve functions such as torque amplification, motion conversion, and closed-loop control.

[0003] Specifically, the joint actuator includes an end cover assembly, which comprises an end cover and an output shaft. The end cover has a central hole, and the output shaft is fitted into the central hole. A bearing is located between the output shaft and the end cover. The outer end of the output shaft has an output flange, and the inner end has multiple threaded holes evenly distributed in a ring for limiting the inner ring of the bearing. During the assembly of the end cover assembly, adhesive needs to be applied to the bearing, and screws need to be tightened into the threaded holes to limit the inner ring of the bearing using the screw nuts.

[0004] The existing technology lacks dedicated equipment for applying adhesive and tightening screws on the end cap assembly of the joint actuator. Although manual operation can meet the assembly requirements of the end cap assembly, it suffers from low efficiency, inconsistent quality standards, and wasted manpower. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a joint actuator end cap assembly glue application and tightening device, which can meet the requirements of automatic glue application and screw tightening operations during the assembly of the end cap assembly.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A joint actuator end cap assembly adhesive application and tightening device includes a worktable, on which the following are mounted: End cap assembly clamping device, used to clamp and fix the end cap assembly; Adhesive storage device for storing bearing adhesive; Screw feeding device for automatic screw feeding; The glue application and tightening actuator is used to perform glue application and screw tightening operations; The glue application and tightening device includes a robotic arm and a work execution component mounted at the end of the robotic arm. The work execution component includes a glue application unit for performing glue application and a tightening unit for performing screw tightening. The glue application unit includes a glue application pump and a glue application drive mechanism for driving the glue application pump to move along a first linear guide rail. The glue application pump is connected to the glue storage device via a glue supply pipe. The tightening unit includes a tightening module and a tightening drive mechanism for driving the tightening module to move along a second linear guide rail. The tightening module is used to pick up screws from the screw feeding device and tighten the screws into the threaded holes at the inner end of the output shaft. The first and second linear guide rails are parallel to each other.

[0007] Furthermore, the end cap assembly clamping device includes a support platform mounted above the worktable and a three-jaw cylinder mounted on the worktable and located below the support platform. A positioning seat for positioning the end cap assembly is mounted on the support platform, and each pneumatic finger of the three-jaw cylinder is respectively equipped with a gripper for clamping and fixing the end cap assembly.

[0008] Furthermore, the positioning seat includes an outer seat sleeve fixedly installed on the support platform and a positioning shaft sleeved inside the outer seat sleeve. The upper end of the positioning shaft is provided with a positioning platform for positioning the end cover assembly. A positioning screw located in the radial direction for positioning the positioning shaft is provided between the outer seat sleeve and the positioning shaft.

[0009] Furthermore, the pneumatic finger is provided with a dovetail groove extending along the radial direction of the three-jaw cylinder and a dovetail block that slides with the dovetail groove. The gripper is fixedly connected to the dovetail block provided in the corresponding pneumatic finger, and the bottom surface of the gripper and the top surface of the pneumatic finger are provided with interlocking anti-slip teeth.

[0010] Furthermore, the robotic arm has a mounting plate at its end, and the work execution component is mounted on the mounting plate.

[0011] Furthermore, the glue application driving mechanism includes a first slider mounted on the first linear guide rail, a first sliding seat mounted on the first slider, a glue application pump fixedly mounted on the first sliding seat, and the axis of the glue application pump being parallel to the first linear guide rail; the first linear guide rail is disposed on the mounting plate, and a first driving cylinder is mounted on the mounting plate, the piston rod of the first driving cylinder being parallel to the first linear guide rail and connected to the first sliding seat.

[0012] Furthermore, the tightening unit includes a back plate mounted on the mounting plate, the second linear guide rail is disposed on the back plate, and the second linear guide rail is provided with a second slider and a third slider, the second slider is mounted with a second sliding seat, and the third slider is mounted with a third sliding seat; The second sliding seat is equipped with a gun head, which has a central through hole; the tightening module is installed on the third sliding seat, and the tightening module includes a nail-collecting tube bit coaxial with the central through hole; the second sliding seat has a first through hole for the nail-collecting tube bit to extend into the central through hole; The tightening drive mechanism includes a first drive mechanism and a second drive mechanism for respectively driving the second sliding seat and the third sliding seat to move along the second linear guide rail.

[0013] Furthermore, the first driving mechanism includes a second driving cylinder mounted on the third sliding seat and parallel to the nail suction tube bit. The second sliding seat is provided with a second through hole through which the piston rod of the second driving cylinder passes. After passing through the second through hole, the piston rod of the second driving cylinder is fixedly connected to the back plate.

[0014] Furthermore, the second driving mechanism includes a third driving cylinder mounted on the third sliding seat and parallel to the nail suction tube bit, the piston rod of the third driving cylinder being connected to the second sliding seat.

[0015] Furthermore, a linear bearing for guiding the nail-picking tube bit is provided inside the first through hole.

[0016] The beneficial effects of this utility model are as follows: The adhesive application and tightening device for the end cap assembly of the joint actuator of this utility model realizes the automatic adhesive application and screw tightening operations in the assembly process of the end cap assembly through integrated design, and achieves the following technical effects: (1) Improve assembly efficiency: The use of robotic arms and work execution components automatically completes the gluing and tightening operations, replacing the traditional manual method, which greatly shortens the assembly time and improves production efficiency; (2) Ensure assembly quality: The glue application unit ensures accurate glue application position and uniform glue amount through the glue application pump and the first linear guide; the tightening unit achieves accurate screw picking and tightening through the tightening module and the second linear guide, avoiding human error and improving consistency and reliability; (3) Reduce labor costs: Automated operation reduces reliance on skilled workers and saves human resources; (4) Compact and coordinated structure: The first linear guide rail and the second linear guide rail are parallel to each other, so that the gluing and tightening operations are carried out in sequence and in coordination. The robotic arm provides flexible positioning, the overall device layout is reasonable, and the operation is stable.

[0017] In summary, the adhesive application and tightening device for the joint actuator end cap assembly of this utility model effectively solves the problems of low efficiency and unstable quality in manual assembly, and meets the high-precision assembly requirements of the joint actuator end cap assembly. Attached Figure Description

[0018] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 This is a schematic diagram of the structure of an embodiment of the adhesive application and tightening device for the joint actuator end cap assembly of this utility model; Figure 2 This is an isometric view of the end cap assembly clamping device; Figure 3 This is a sectional view of the end cap assembly clamping device; Figure 4 This is a schematic diagram of the adhesive coating unit. Figure 5 This is a structural diagram of the tightening unit; Figure 6 This is an isometric view of the tightening unit.

[0019] Explanation of reference numerals in the attached figures: 10-Workbench; 20-End cap assembly clamping device; 21-Support platform; 22-Three-jaw cylinder; 23-Positioning seat; 231-Outer seat sleeve; 232-Positioning shaft; 233-Positioning table; 24-Pneumatic finger; 241-Dovetail groove; 242-Dovetail block; 25-Gripper; 26-Positioning screw; 27-Anti-slip teeth; 30-Glue storage device; 40-Screw feeding device; 50-Glue application and tightening actuator; 51-Robotic arm; 52-Mounting plate; 53-Glue application pump; 531-Detection Sensor; 54-First linear guide rail; 55-First slider; 56-First sliding seat; 57-First drive cylinder; 58-Back plate; 59-Tightening module; 60-Second linear guide rail; 61-Second slider; 62-Third slider; 63-Second sliding seat; 631-First through hole; 632-Second through hole; 64-Third sliding seat; 65-Gun head; 66-Nail suction tube bit; 67-Second drive cylinder; 68-Third drive cylinder; 69-Linear bearing; 70-End cap assembly. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0021] like Figure 1As shown, the joint actuator end cap assembly glue application and tightening device of this embodiment includes a worktable 10. An end cap assembly clamping device 20, a glue storage device 30, a screw feeding device 40, and a glue application and tightening execution device 50 are mounted on the worktable 10. These devices work together to automate the glue application and screw tightening operations of the end cap assembly 70. Specifically, the end cap assembly clamping device 20 clamps and fixes the end cap assembly 70, the glue storage device 30 stores bearing glue, the screw feeding device 40 automatically feeds screws, and the glue application and tightening execution device 50 performs the glue application and screw tightening operations.

[0022] like Figure 2-3 As shown, the end cap assembly clamping device 20 is used to clamp and fix the end cap assembly 70. Specifically, the end cap assembly clamping device 20 includes a support platform 21 mounted above the worktable 10 and a three-jaw cylinder 22 mounted on the worktable 10 and located below the support platform 21. A positioning seat 23 for positioning the end cap assembly 70 is mounted on the support platform 21. Each pneumatic finger 24 of the three-jaw cylinder 22 is equipped with a gripper 25 for clamping and fixing the end cap assembly 70. When the three-jaw cylinder 22 is actuated, the pneumatic finger 24 drives the gripper 25 to move radially, thereby clamping or releasing the end cap assembly 70.

[0023] like Figure 3 As shown, the positioning seat 23 in this embodiment includes an outer sleeve 231 fixedly mounted on a support platform 21 and a positioning shaft 232 sleeved within the outer sleeve 231. The upper end of the positioning shaft 232 is provided with a positioning platform 233 for positioning the end cover assembly 70. A positioning screw 26 located in the radial direction for positioning the positioning shaft 232 is provided between the outer sleeve 231 and the positioning shaft 232. The positioning shaft 232 is provided with a positioning groove that mates with the positioning screw to lock the axial and radial positions of the positioning shaft 232. Thus, by replacing the positioning shaft 232, the technical objective of positioning the end cover assembly 70 of different sizes of joint actuators can be achieved.

[0024] To enhance clamping stability, the pneumatic finger 24 is provided with a dovetail groove 241 extending radially along the three-jaw cylinder 22 and a dovetail block 242 that slides in conjunction with the dovetail groove 241, such as... Figure 2 As shown, the gripper 25 is fixedly connected to the dovetail block 242 provided inside the corresponding pneumatic finger 24. Thus, the radial position of the gripper 25 can be adjusted via the dovetail block 242 to adapt to the clamping and fixing requirements of end cap assemblies 70 of different sizes and models of joint actuators. Furthermore, anti-slip teeth 27 are provided between the bottom surface of the gripper 25 and the top surface of the pneumatic finger 24 to prevent the gripper 25 from sliding during clamping.

[0025] The adhesive storage device 30 stores bearing adhesive and is connected to the adhesive application unit via a supply pipe, providing an adhesive source for the application process. The screw feeding device 40 automatically feeds screws and delivers them to the pick-up position of the tightening unit.

[0026] The adhesive application and tightening actuator 50 includes a robotic arm 51 and a work execution component mounted at the end of the robotic arm 51. The robotic arm 51 is preferably a six-axis robotic arm, providing multi-degree-of-freedom motion to ensure that the work execution component can accurately reach the working position of the end cap assembly 70. A mounting plate 52 is provided at the end of the robotic arm 51, and the work execution component is mounted on the mounting plate 52. In this embodiment, the work execution component includes an adhesive application unit for performing adhesive application operations and a tightening unit for performing screw tightening operations.

[0027] like Figure 4 As shown, the glue application unit in this embodiment includes a glue application pump 53 and a glue application drive mechanism for driving the glue application pump 53 to move along a first linear guide rail 54. The glue application pump 53 is connected to the glue storage device 30 via a glue supply pipe. The glue application drive mechanism includes a first slider 55 mounted on the first linear guide rail 54, a first sliding seat 56 mounted on the first slider 55, and the glue application pump 53 fixedly mounted on the first sliding seat 56, with the axis of the glue application pump 53 parallel to the first linear guide rail 54. The first linear guide rail 54 is disposed on a mounting plate 52, and a first drive cylinder 57 is mounted on the mounting plate 52. The piston rod of the first drive cylinder 57 is parallel to the first linear guide rail 54 and connected to the first sliding seat 56. When the first drive cylinder 57 is activated, it pushes the first sliding seat 56 to move along the first linear guide rail 54, thereby driving the glue application pump 53 to perform linear motion and achieve precise glue application. In a preferred embodiment of this example, a detection sensor 531 is installed on the mounting plate 52 to detect when the glue pump 53 moves along the feed direction to the glue application position. Specifically, the detection sensor 531 in this example is a contact sensor.

[0028] like Figure 5-6 As shown, the tightening unit in this embodiment includes a tightening module 59 and a tightening drive mechanism for driving the tightening module 59 to move along the second linear guide rail 60. Specifically, the tightening unit also includes a back plate 58 mounted on the mounting plate 52, and the second linear guide rail 60 is disposed on the back plate 58. The second linear guide rail 60 is provided with a second slider 61 and a third slider 62. A second sliding seat 63 is mounted on the second slider 61, and a third sliding seat 64 is mounted on the third slider 62.

[0029] In this embodiment, a gun head 65 is mounted on the second sliding seat 63, and the gun head 65 has a central through hole. A tightening module 59 is mounted on the third sliding seat 64. The tightening module 59 includes a nail-collecting tube bit 66 coaxial with the central through hole. The nail-collecting tube bit 66 has a vacuum channel inside, which can attract screws through negative pressure. The second sliding seat 63 has a first through hole 631 for extending the nail-collecting tube bit 66 into the central through hole. In a preferred embodiment, to ensure the movement accuracy of the nail-collecting tube bit 66, a linear bearing 69 for guiding the nail-collecting tube bit 66 is provided in the first through hole 631.

[0030] In this embodiment, the tightening drive mechanism includes a first drive mechanism and a second drive mechanism for driving the second sliding seat 63 and the third sliding seat 64 to move along the second linear guide rail 60, respectively.

[0031] Specifically, the first drive mechanism includes a second drive cylinder 67 mounted on the third sliding seat 64 and parallel to the nail-picking tube bit 66. The second sliding seat 63 has a second through hole 632 through which the piston rod of the second drive cylinder 67 passes. After passing through the second through hole 632, the piston rod of the second drive cylinder 67 is fixedly connected to the back plate 58. When the second drive cylinder 67 is activated, because the piston rod is fixed to the back plate 58, the cylinder body pushes the third sliding seat 64 to move along the second linear guide rail 60, thereby driving the tightening module 59 forward or backward.

[0032] Specifically, the second drive mechanism includes a third drive cylinder 68 mounted on the third sliding seat 64 and parallel to the nail suction tube bit 66. The piston rod of the third drive cylinder 68 is connected to the second sliding seat 63. When the third drive cylinder 68 is activated, it pushes the second sliding seat 63 to move along the second linear guide rail 60, thereby driving the nail gun head 65 to move.

[0033] In this embodiment, the first linear guide rail 54 and the second linear guide rail 60 are parallel to each other, so that the gluing and tightening operations can be carried out in sequence and in coordination, thereby improving the overall efficiency.

[0034] The working process of the joint actuator end cap assembly adhesive application and tightening device in this embodiment, which performs adhesive application and screw tightening operations on the end cap assembly 70, is as follows: (1) The end cap assembly 70 is positioned by the positioning seat 23 and is clamped and fixed by the gripper 25 driven by the three-jaw cylinder 22.

[0035] (2) The robotic arm 51 moves the work execution component to above the end cap assembly 70.

[0036] (3) The glue application unit works: the first drive cylinder 57 drives the glue application pump 53 to move along the first linear guide rail 54, and the glue application pump 53 applies bearing glue to the bearing position of the end cover assembly 70.

[0037] (4) Tightening unit operation: The screw-collecting tube bit 66 of the tightening module 59 picks up the screw from the screw feeding device 40. Then the second drive cylinder 67 and the third drive cylinder 68 work together to drive the screw-collecting tube bit 66 and the gun head 65 to move along the second linear guide rail 60 and screw the screw into the threaded hole at the inner end of the output shaft; until all the threaded holes are screwed in.

[0038] (5) The robotic arm 51 is reset and ready for the next work cycle.

[0039] The joint actuator end cap assembly adhesive application and tightening device in this embodiment, through automated design, achieves efficient and precise adhesive application and screw tightening operations during the end cap assembly assembly process, significantly improving assembly quality and efficiency.

[0040] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A device for applying adhesive and tightening a joint actuator end cap assembly, characterized in that: Includes a workbench, on which are mounted: End cap assembly clamping device, used to clamp and fix the end cap assembly; Glue storage device for storing bearing glue; Screw feeding device for automatic screw feeding; The glue application and tightening actuator is used to perform glue application and screw tightening operations; The glue application and tightening device includes a robotic arm and a work execution assembly mounted at the end of the robotic arm. The work execution assembly includes a glue application unit for performing glue application and a tightening unit for performing screw tightening. The glue application unit includes a glue application pump and a glue application drive mechanism for driving the glue application pump to move along a first linear guide rail. The glue application pump is connected to the glue storage device via a glue supply pipe. The tightening unit includes a tightening module and a tightening drive mechanism for driving the tightening module to move along a second linear guide rail. The tightening module is used to pick up screws from the screw feeding device and tighten the screws into the threaded hole at the inner end of the output shaft. The first and second linear guide rails are parallel to each other.

2. The adhesive application and tightening device for the joint actuator end cap assembly according to claim 1, characterized in that: The end cap assembly clamping device includes a support platform mounted above the worktable and a three-jaw cylinder mounted on the worktable and located below the support platform. A positioning seat for positioning the end cap assembly is mounted on the support platform, and each pneumatic finger of the three-jaw cylinder is equipped with a gripper for clamping and fixing the end cap assembly.

3. The joint actuator end cap assembly adhesive application and tightening device according to claim 2, characterized in that: The positioning seat includes an outer seat sleeve fixedly installed on the support platform and a positioning shaft sleeved inside the outer seat sleeve. The upper end of the positioning shaft is provided with a positioning platform for positioning the end cover assembly. A positioning screw located in the radial direction for positioning the positioning shaft is provided between the outer seat sleeve and the positioning shaft.

4. The joint actuator end cap assembly adhesive application and tightening device according to claim 2, characterized in that: The pneumatic finger is provided with a dovetail groove extending along the radial direction of the three-jaw cylinder and a dovetail block that slides with the dovetail groove. The gripper is fixedly connected to the dovetail block provided in the corresponding pneumatic finger, and the bottom surface of the gripper and the top surface of the pneumatic finger are provided with interlocking anti-slip teeth.

5. The joint actuator end cap assembly adhesive application and tightening device according to any one of claims 1-4, characterized in that: The robotic arm has a mounting plate at its end, and the work execution component is mounted on the mounting plate.

6. The adhesive application and tightening device for the joint actuator end cap assembly according to claim 5, characterized in that: The glue application driving mechanism includes a first slider mounted on the first linear guide rail, a first sliding seat mounted on the first slider, a glue application pump fixedly mounted on the first sliding seat, and the axis of the glue application pump being parallel to the first linear guide rail; the first linear guide rail is disposed on the mounting plate, and a first driving cylinder is mounted on the mounting plate, the piston rod of the first driving cylinder being parallel to the first linear guide rail and connected to the first sliding seat.

7. The adhesive application and tightening device for the joint actuator end cap assembly according to claim 5, characterized in that: The tightening unit includes a back plate mounted on the mounting plate, a second linear guide rail disposed on the back plate, and a second slider and a third slider provided on the second linear guide rail. A second sliding seat is mounted on the second slider, and a third sliding seat is mounted on the third slider. The second sliding seat is equipped with a gun head, which has a central through hole; the tightening module is installed on the third sliding seat, and the tightening module includes a nail-collecting tube bit coaxial with the central through hole; the second sliding seat has a first through hole for the nail-collecting tube bit to extend into the central through hole; The tightening drive mechanism includes a first drive mechanism and a second drive mechanism for respectively driving the second sliding seat and the third sliding seat to move along the second linear guide rail.

8. The adhesive application and tightening device for the joint actuator end cap assembly according to claim 7, characterized in that: The first driving mechanism includes a second driving cylinder mounted on the third sliding seat and parallel to the nail suction tube bit. The second sliding seat is provided with a second through hole for the piston rod of the second driving cylinder to pass through. After the piston rod of the second driving cylinder passes through the second through hole, it is fixedly connected to the back plate.

9. The adhesive application and tightening device for the joint actuator end cap assembly according to claim 7, characterized in that: The second drive mechanism includes a third drive cylinder mounted on the third sliding seat and parallel to the nail suction tube bit, wherein the piston rod of the third drive cylinder is connected to the second sliding seat.

10. The joint actuator end cap assembly adhesive application and tightening device according to claim 7, characterized in that: The first through hole is provided with a linear bearing for guiding the nail suction tube bit.

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