Quantitative control tooling for robot joint reducer grease injection amount

Abstract

The application relates to the technical field of robot joint reducer grease injection equipment, and discloses a quantitative control tool for the grease injection amount of a robot joint reducer, which comprises a base, and a stand column is fixedly connected to the top end of the base. The quantitative control tool for the grease injection amount of the robot joint reducer can monitor the grease injection amount, automatically shut down the grease injection pump when the grease injection amount reaches a set value, realize quantitative grease injection, drive the screw rod to rotate through the first motor, drive the moving block to move the grease injection pipe, linearly adjust the grease injection position, drive the gear to rotate through the second motor, drive the gear ring to drive the rotating seat to rotate, and then rotate and adjust the grease injection pipe, and electrically connect the first motor and the second motor to the controller, so that the moving path of the grease injection pipe can be pre-set according to different specifications of the reducer, and different specifications of the reducer can be uniformly injected with grease.

Description

Technical Field

[0001] This application relates to the technical field of grease injection equipment for robot joint reducers, specifically a tooling for quantitative control of grease injection volume in robot joint reducers. Background Technology

[0002] Robot joint reducers are the core transmission components connecting the motor and the actuator. They achieve precise motion control by reducing the rotational speed and increasing the torque. They typically use harmonic gears or RV gear structures. The former uses the elastic deformation of the flexible gear to transmit power and has the characteristics of small size and high precision. The latter improves rigidity through two-stage transmission and is suitable for heavy-duty scenarios. In order to reduce the friction and wear of the internal gear meshing, reduce operating noise and extend service life, the reducer needs to be greased.

[0003] Existing grease injection methods generally include manual grease injection and grease injection equipment. Manual grease injection relies on operating experience and it is difficult to ensure the consistency of the injection volume each time, which affects the grease injection quality. On the other hand, existing grease injection equipment is mostly designed for a single model and cannot be adapted to different specifications of reducers for uniform grease injection, which limits the versatility and applicability of grease injection equipment. Utility Model Content

[0004] To address the shortcomings of existing technologies, this application provides a quantitative control fixture for the amount of grease injected into a robot joint reducer. This fixture can automatically complete the quantitative grease injection operation of the reducer, ensuring the consistency of the grease injection amount. It can also perform uniform grease injection operations on reducers of different specifications and types, improving the versatility and applicability of the grease injection fixture and solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this application provides the following technical solution: a quantitative control fixture for grease injection in a robot joint reducer, comprising a base, a column fixedly connected to the top of the base, a top plate fixedly connected to the top of the column, a hydraulic cylinder fixedly connected to the bottom of the top plate, a lifting seat fixedly connected to the output end of the hydraulic cylinder, a rotating seat rotatably connected to the bottom of the lifting seat, a first through hole provided inside the rotating seat, a moving block provided inside the first through hole, a grease injection pipe rotatably connected to the bottom of the moving block, a flow meter installed on the outer circumference of the grease injection pipe, a lead screw rotatably connected inside the rotating seat, the outer circumference of the lead screw being threadedly connected to the inside of the moving block, a first motor provided at the end of the lead screw, and the lifting seat being rotatably connected to the bottom of the moving block. A second motor is mounted on the bottom surface of the base, and a gear is fixedly connected to the output shaft of the second motor. A gear ring is fixedly fitted onto the outer circumference of the rotating base, and the gear ring meshes with the gear. A grease reservoir and a grease pump are provided above the base. A first pipe is provided at the top of the grease pump, and the end of the first pipe away from the grease pump is slidably inserted into the interior of the grease reservoir. A second pipe is provided on one side of the grease pump, and a connecting pipe is fixedly connected to the end of the second pipe away from the grease pump. A third pipe is fixedly connected to the end of the connecting pipe away from the second pipe, and the end of the third pipe away from the connecting pipe is connected to the grease injection pipe. A controller is provided on the upper surface of the top plate, and the flow meter, the first motor, the second motor, and the grease pump are all electrically connected to the controller.

[0006] The above solution, by installing a flow meter on the grease injection tube and electrically connecting the flow meter and the grease injection pump to the controller, allows for monitoring of the grease injection volume. The pump automatically shuts off when the grease injection volume reaches the set value, achieving quantitative grease injection, ensuring consistent grease injection volume, and preventing deviations from affecting the reducer's operation. A first motor drives a lead screw to rotate, causing a moving block to move the grease injection tube, allowing for linear adjustment of the grease injection position. A second motor drives a gear to rotate, causing a gear ring to rotate a rotating seat, thus adjusting the rotation of the grease injection tube. Electrically connecting the first and second motors to the controller, and with their coordinated operation, allows for pre-setting the grease injection tube's movement path according to different reducer specifications. This ensures the grease injection path matches the reducer's specifications, enabling uniform grease injection for different types of reducers and improving the versatility and applicability of the grease injection fixture.

[0007] Furthermore, a chain conveyor mechanism is provided below the grease injection tube. A mold base is fixedly connected to the chain plate of the chain conveyor mechanism by bolts. The mold base has a positioning groove inside that is adapted to the reducer housing.

[0008] The above solution enables the automatic transport of the reducer via a chain conveyor mechanism. The positioning groove inside the mold base, which is compatible with the reducer housing, can position the reducer, facilitating its placement and removal, ensuring stability during transport, and guaranteeing accurate grease injection operation via the grease injection tube.

[0009] Furthermore, four guide rods are fixedly connected to the upper surface of the lifting seat, and the outer circumferential surface of the guide rods is slidably inserted into the interior of the top plate.

[0010] With the above solution, during the lifting process driven by the hydraulic cylinder, the guide rod plays a guiding role, ensuring that the lifting seat can only move in a straight line in the vertical direction, thus avoiding deviation or swaying of the lifting seat during the lifting process and ensuring the stability of the lifting seat's movement.

[0011] Furthermore, the outer surface of the movable block is slidably connected to the inner wall of the first through hole.

[0012] The above scheme enables the moving block to slide inside the first through hole, thereby allowing the moving block to maintain linear motion and preventing it from rotating under the drive of the lead screw.

[0013] Furthermore, the first, second, and third pipes are all made of soft materials.

[0014] With the above solution, during the grease injection process, when the grease injection tube changes position as the lifting seat rises and falls and the moving block moves, the soft tube can bend and stretch flexibly and will not be damaged by stretching or squeezing due to the change in the position of the grease injection tube, thus meeting the position adjustment requirements of the grease injection tube.

[0015] Furthermore, the column has a second through hole inside, and a lifting block is slidably connected inside the second through hole. The connecting pipe is fixedly inserted into the inside of the lifting block, and a connecting plate is fixedly connected between the lifting block and the lifting seat.

[0016] The above solution allows the connecting pipe to rise and fall synchronously with the lifting seat, preventing the pipe position from becoming disordered during the adjustment process and affecting other components, thus ensuring the continuous and normal operation of the grease injection work.

[0017] Furthermore, two limiting plates are fixedly connected to the outer surface of the lifting block, and the limiting plates are slidably connected to the column through a longitudinal limiting groove opened inside the column.

[0018] With the above scheme, as the lifting block moves up and down with the lifting seat, the limiting plate slides in the longitudinal limiting groove, which plays a limiting and guiding role for the lifting block, thereby improving the stability of the movement of the lifting block and the connecting pipe.

[0019] Furthermore, a limiting ring is fixedly sleeved on the outer circumferential surface of each guide rod, and the limiting ring is disposed at the top end of the guide rod.

[0020] Through the above solution, the setting of the limit ring can limit the lifting stroke of the lifting seat, prevent the guide rod from coming out of the top plate, ensure the stability of the lifting seat movement, and also prevent excessive displacement from causing accidental damage to related components.

[0021] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0022] This tooling for quantitatively controlling the grease injection volume of a robot joint reducer uses a flow meter installed on the grease injection tube. The flow meter and grease pump are electrically connected to a controller to monitor the grease injection volume. The pump automatically shuts off when the set volume is reached, ensuring consistent grease injection and preventing deviations from affecting the reducer's operation. A first motor drives a lead screw, causing a moving block to move the grease injection tube, allowing for linear adjustment of the injection position. A second motor drives a gear, causing a gear ring to rotate a rotating seat, thus adjusting the rotation of the grease injection tube. Electrically connecting the first and second motors to the controller, and with their coordinated operation, allows for pre-setting the grease injection tube's movement path according to different reducer specifications. This ensures the grease injection path matches the reducer's specifications, enabling uniform grease injection for different reducer types and improving the tooling's versatility and applicability. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the entire application;

[0024] Figure 2 This is a partial side view of the structure of this application;

[0025] Figure 3 This is a structural diagram of the grease injection tube in this application;

[0026] Figure 4 This is a structural diagram of the rotating seat in this application;

[0027] Figure 5 This is a structural diagram of the lifting block in this application.

[0028] In the picture:

[0029] 1. Base; 2. Column; 3. Top plate; 4. Hydraulic cylinder; 5. Lifting seat; 6. Rotating seat; 7. Moving block; 8. Grease injection pipe; 9. Lead screw; 10. First motor; 11. Second motor; 12. Gear; 13. Gear ring; 14. Flow meter; 15. Grease storage tank; 16. Grease injection pump; 17. First pipe; 18. Second pipe; 19. Connecting pipe; 20. Third pipe; 21. Controller; 22. Chain conveyor mechanism; 23. Mold base; 24. Guide rod; 25. First through hole; 26. Lifting block; 27. Connecting plate; 28. Limiting plate; 29. ​​Limiting ring; 30. Second through hole. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Please see Figure 1 , Figure 3 and Figure 4 The quantitative control fixture for the grease injection amount of the robot joint reducer in this embodiment includes a base 1, a column 2 fixedly connected to the top of the base 1, a top plate 3 fixedly connected to the top of the column 2, a hydraulic cylinder 4 fixedly connected to the bottom of the top plate 3, a lifting seat 5 fixedly connected to the output end of the hydraulic cylinder 4, a rotating seat 6 rotatably connected to the bottom of the lifting seat 5, a first through hole 25 provided inside the rotating seat 6, a moving block 7 provided inside the first through hole 25, a grease injection pipe 8 rotatably connected to the bottom of the moving block 7, and a flow meter 14 installed on the outer circumference of the grease injection pipe 8.

[0032] The grease injection tube 8 is rotatably connected to the bottom of the movable block 7, which can prevent the third pipe 20 from getting tangled on the grease injection tube 8 when the movable block 7 rotates with the rotating seat 6, thus ensuring that the grease injection action of the grease injection tube 8 is carried out smoothly.

[0033] Please see Figure 2 , Figure 3 and Figure 4 The rotating seat 6 is internally connected to a lead screw 9, the outer circumferential surface of the lead screw 9 is threadedly connected to the inner surface of the moving block 7, the end of the lead screw 9 is provided with a first motor 10, the bottom surface of the lifting seat 5 is installed with a second motor 11, the output shaft of the second motor 11 is fixedly connected to a gear 12, and the outer circumferential surface of the rotating seat 6 is fixedly fitted with a gear ring 13, which meshes with the gear 12.

[0034] Please see Figure 1 , Figure 2 and Figure 3Above the base 1, there is a grease reservoir 15 and a grease pump 16. The top of the grease pump 16 is provided with a first pipe 17. The end of the first pipe 17 away from the grease pump 16 is slidably inserted into the interior of the grease reservoir 15. A second pipe 18 is provided on one side of the grease pump 16. A connecting pipe 19 is fixedly connected to the end of the second pipe 18 away from the grease pump 16. A third pipe 20 is fixedly connected to the end of the connecting pipe 19 away from the second pipe 18. The end of the third pipe 20 away from the connecting pipe 19 is connected to the grease injection pipe 8. A controller 21 is provided on the upper surface of the top plate 3. The flow meter 14, the first motor 10, the second motor 11 and the grease pump 16 are all electrically connected to the controller 21.

[0035] Please see Figure 1 Below the grease injection tube 8 is a chain plate conveying mechanism 22. A mold base 23 is fixedly connected to the chain plate of the chain plate conveying mechanism 22 by bolts. The mold base 23 has a positioning groove inside that is adapted to the reducer housing. The reducer can be automatically conveyed by the chain plate conveying mechanism 22. The positioning groove inside the mold base 23 that is adapted to the reducer housing can position the reducer, which is convenient for picking up and putting down the reducer, and ensures the stability of the reducer during the conveying process. It also ensures the accurate grease injection operation of the grease injection tube 8 in the future.

[0036] Please see Figure 1 , Figure 2 and Figure 3 Four guide rods 24 are fixedly connected to the upper surface of the lifting seat 5. The outer circumferential surface of the guide rods 24 is slidably inserted into the interior of the top plate 3. During the lifting process of the lifting seat 5 driven by the hydraulic cylinder 4, the guide rods 24 play a guiding role, so that the lifting seat 5 can only move in a straight line in the vertical direction, avoiding the lifting seat 5 from deviating or shaking during the lifting process, and ensuring the stability of the movement of the lifting seat 5.

[0037] Please see Figure 3 and Figure 4 The outer surface of the movable block 7 is slidably connected to the inner wall of the first through hole 25, which causes the movable block 7 to be slidably connected to the inside of the first through hole 25, thereby enabling the movable block 7 to maintain linear motion and preventing the movable block 7 from rotating under the drive of the lead screw 9.

[0038] Please see Figure 1 , Figure 2 and Figure 3 The first pipe 17, the second pipe 18 and the third pipe 20 are all soft pipes. During the grease injection process, when the position of the grease injection pipe 8 changes as the lifting seat 5 rises and falls and the moving block 7 moves, the soft pipe can bend and stretch flexibly and will not be stretched or squeezed and damaged due to the position change of the grease injection pipe 8, thus meeting the position adjustment requirements of the grease injection pipe 8.

[0039] Please see Figure 1 , Figure 3 and Figure 5 The column 2 has a second through hole 30 inside, and a lifting block 26 is slidably connected inside the second through hole 30. The connecting pipe 19 is fixedly inserted into the inside of the lifting block 26. A connecting plate 27 is fixedly connected between the lifting block 26 and the lifting seat 5, so that the connecting pipe 19 can rise and fall synchronously with the lifting seat 5, avoiding the pipe position confusion during the adjustment of the grease injection pipe 8 position, affecting other components, and ensuring the continuous and normal progress of the grease injection operation.

[0040] Please see Figure 3 and Figure 5 Two limiting plates 28 are fixedly connected to the outer surface of the lifting block 26. The limiting plates 28 are slidably connected to the column 2 through the longitudinal limiting groove opened inside the column 2. During the process of the lifting block 26 rising and falling with the lifting seat 5, the limiting plates 28 slide in the longitudinal limiting groove, which plays a limiting and guiding role for the lifting block 26, thereby improving the stability of the movement of the lifting block 26 and the connecting pipe 19.

[0041] Please see Figure 1 , Figure 2 and Figure 3 Each guide rod 24 has a limit ring 29 fixedly sleeved on its outer circumference. The limit ring 29 is set at the top of the guide rod 24. The limit ring 29 can limit the lifting stroke of the lifting seat 5, prevent the guide rod 24 from coming out of the top plate 3, ensure the stability of the lifting seat 5, and also prevent excessive displacement from causing accidental damage to related components.

[0042] The working principle of the above embodiment is as follows: When the first motor 10 starts, it drives the lead screw 9 to rotate. The rotation of the lead screw 9 drives the moving block 7 to move linearly, thereby driving the grease injection tube 8 to move linearly, realizing linear adjustment of the grease injection position. When the second motor 11 starts, it drives the gear 12 to rotate. The gear 12 drives the rotating seat 6 to rotate through the gear ring 13, thereby causing the grease injection tube 8 to rotate for adjustment. Before the grease injection operation, the movement path of the grease injection tube 8 is preset by the controller 21 according to the grease injection requirements of different specifications of reducers. Under the cooperation of the first motor 10 and the second motor 11, the grease injection tube 8 moves according to the preset path to adapt to the grease injection requirements of different specifications of reducers. During the grease injection operation, the reducer to be greased is placed in the mold base 23, and then the reducer is transported to the grease injection site by the chain plate conveyor mechanism 22. Below pipe 8, after the reducer is in place, the grease pump 16 starts, drawing grease from the grease tank 15 through the first pipe 17, and then delivering it to the grease injection pipe 8 through the second pipe 18, connecting pipe 19 and the third pipe 20. The grease injection pipe 8 injects the grease evenly into the reducer according to the pre-set movement path. During the grease injection process, the flow meter 14 monitors the grease injection volume in real time and feeds the data back to the controller 21. When the grease injection volume reaches the set value, the controller 21 automatically shuts off the grease pump 16 to achieve quantitative grease injection and ensure the consistency of the grease injection volume. Then, the chain plate conveyor mechanism 22 operates to move the subsequent reducers forward in sequence, repeating the above grease injection action to complete the grease injection operation. The hydraulic cylinder 4 can be started to drive the lifting seat 5 to lift and lower, thereby adjusting the grease injection height of the grease injection pipe 8 as needed.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0044] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tooling for quantitatively controlling the amount of grease injected into a robot joint reducer, comprising a base (1), characterized in that: A column (2) is fixedly connected to the top of the base (1), a top plate (3) is fixedly connected to the top of the column (2), a hydraulic cylinder (4) is fixedly connected to the bottom of the top plate (3), a lifting seat (5) is fixedly connected to the output end of the hydraulic cylinder (4), a rotating seat (6) is rotatably connected to the bottom of the lifting seat (5), a first through hole (25) is provided inside the rotating seat (6), a moving block (7) is provided inside the first through hole (25), a grease injection pipe (8) is rotatably connected to the bottom of the moving block (7), a flow meter (14) is installed on the outer circumference of the grease injection pipe (8), a lead screw (9) is rotatably connected inside the rotating seat (6), the outer circumference of the lead screw (9) is threadedly connected to the inside of the moving block (7), a first motor (10) is provided at the end of the lead screw (9), a second motor (11) is installed on the bottom of the lifting seat (5), a gear (12) is fixedly connected to the output shaft of the second motor (11), and the rotating seat (6) is rotatably connected to the bottom of the lifting seat (5). A toothed ring (13) is fixedly fitted onto the outer circumference of the base (6). The toothed ring (13) meshes with a gear (12). A grease reservoir (15) and a grease pump (16) are provided above the base (1). A first pipe (17) is provided at the top of the grease pump (16). The end of the first pipe (17) away from the grease pump (16) is slidably inserted into the interior of the grease reservoir (15). A second pipe (18) is provided on one side of the grease pump (16). A connecting pipe (19) is fixedly connected to the end away from the grease pump (16). A third pipe (20) is fixedly connected to the end of the connecting pipe (19) away from the second pipe (18). One end of the third pipe (20) away from the connecting pipe (19) is connected to the grease injection pipe (8). A controller (21) is provided on the upper surface of the top plate (3). The flow meter (14), the first motor (10), the second motor (11) and the grease pump (16) are all electrically connected to the controller (21).

2. The quantitative control fixture for grease injection in the robot joint reducer according to claim 1, characterized in that: Below the grease injection tube (8) is a chain plate conveying mechanism (22). A mold base (23) is fixedly connected to the chain plate of the chain plate conveying mechanism (22) by bolts. The mold base (23) has a positioning groove inside that is adapted to the reducer housing.

3. The quantitative control fixture for grease injection in the robot joint reducer according to claim 1, characterized in that: Four guide rods (24) are fixedly connected to the upper surface of the lifting seat (5), and the outer circumferential surface of the guide rods (24) is slidably inserted into the interior of the top plate (3).

4. The quantitative control fixture for grease injection in the robot joint reducer according to claim 1, characterized in that: The outer surface of the movable block (7) is slidably connected to the inner wall of the first through hole (25).

5. The quantitative control fixture for grease injection in the robot joint reducer according to claim 1, characterized in that: The first pipe (17), the second pipe (18) and the third pipe (20) are all soft pipes.

6. The quantitative control fixture for grease injection in the robot joint reducer according to claim 1, characterized in that: The column (2) has a second through hole (30) inside, and a lifting block (26) is slidably connected inside the second through hole (30). The connecting pipe (19) is fixedly inserted into the inside of the lifting block (26), and a connecting plate (27) is fixedly connected between the lifting block (26) and the lifting seat (5).

7. The quantitative control fixture for grease injection in a robot joint reducer according to claim 6, characterized in that: The outer surface of the lifting block (26) is fixedly connected to two limiting plates (28), and the limiting plates (28) are slidably connected to the column (2) through the longitudinal limiting groove opened inside the column (2).

8. The quantitative control fixture for grease injection in the robot joint reducer according to claim 3, characterized in that: Each of the guide rods (24) has a limiting ring (29) fixedly sleeved on its outer circumference, and the limiting ring (29) is located at the top of the guide rod (24).

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