CN106015528B - A kind of planetary gear assembly manipulator - Google Patents
A kind of planetary gear assembly manipulator Download PDFInfo
- Publication number
- CN106015528B CN106015528B CN201610547127.4A CN201610547127A CN106015528B CN 106015528 B CN106015528 B CN 106015528B CN 201610547127 A CN201610547127 A CN 201610547127A CN 106015528 B CN106015528 B CN 106015528B
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- China
- Prior art keywords
- planetary gear
- sub
- bearing
- link
- connecting rod
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of planetary gear assembly manipulator, including the fixed disk be arrangeding in parallel and movable disk, at least two first connecting rods are along the circumferential direction evenly arranged with movable disk, the second connecting rod corresponding with first connecting rod is evenly arranged with fixed disk, second connecting rod is made up of the first sub-link being fixedly connected and the second sub-link, the angle that first sub-link and the second sub-link are formed is first angle, second connecting rod is rotatably connected on fixed disk, one end of first connecting rod is rotatably connected in movable disk, the other end is rotatablely connected with the first sub-link of corresponding second connecting rod；Fixed disk is fixedly installed on the first bearing, and movable disk drives it along movable disk axis direction by the first drive mechanism and moved back and forth, so as to drive the front end opening and closing of the second sub-link.The present invention has advantages below compared with prior art：Adapt to different size planetary gear automatic assemblings.
Description
Technical field
The present invention relates to automatic assembly machine hand technical field, more particularly to a kind of planetary gear assembly manipulator.
Background technology
Planetary reducer is using widely in engineering machinery, and with its reliable operation, service life is grown, gearratio
Scope is wide, small volume, compact-sized, is favored deeply by Machine Design teacher the features such as power and wide speed use range.In engineering
In production, due to the complexity and particularity of itself and structure, most of planetary gears assemblings are still manual assembly.In order to improve life
The flank of tooth that production efficiency and reduction human operational error bring is damaged, is badly in need of a kind of manipulator for being capable of High Precision Automatic assembling.
Now, the substantial amounts of assembly equipment for different Design of Speed Reducer both at home and abroad, determines yet with gear installation gear teeth relative position
The complexity of position, the assembly equipment being commonly used is mainly the assembling of gear and axle, is not related to gear assembling relative position
Adjust automatically, the function of assembling is positioned without gear.And different assembly equipments is needed for different decelerator parts, this
So that planetary reducer production automation degree is low, cost is high.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of planetary gear assembly manipulator, to
Reach the purpose for adapting to different size planetary gear automatic assemblings.
The present invention is achieved by the following technical solutions：
A kind of planetary gear assembly manipulator, including the fixed disk and movable disk be arrangeding in parallel, along circle in the movable disk
Circumferential direction is evenly arranged with least two first connecting rods, is evenly arranged with the fixed disk corresponding with the first connecting rod
Second connecting rod, the second connecting rod are made up of the first sub-link being fixedly connected and the second sub-link, first sub-link and
The angle that second sub-link is formed is first angle, and the first angle is more than 0 ° and is less than 180 °, and the second connecting rod, which rotates, to be connected
It is connected on the fixed disk, and first sub-link and the second sub-link stretch out the both sides of the fixed disk respectively, described
One end of one connecting rod is rotatably connected in movable disk, the other end is rotatablely connected with the first sub-link of corresponding second connecting rod；Institute
State fixed disk to be fixedly installed on the first bearing, the movable disk drives it along the activity dish axle by the first drive mechanism
Line direction moves back and forth, so as to drive the front end opening and closing of second sub-link, to realize planetary clamping, institute
State the first drive mechanism to be fixedly installed on first bearing, first bearing is driven it along by the second drive mechanism
The movable disk axis direction moves back and forth, and second drive mechanism is fixedly installed on the second bearing, second bearing
Front end is fixed with least two guide rails forward extended out, and the guide rail is located at the peripheral and described guide rail of first bearing
Length direction is parallel with the axis direction of the movable disk, and the first bearing outer surface is along the circumferential direction fixedly installed at least
Two sliding blocks, the sliding block and the guide rail correspond, and the sliding block can slide in the corresponding guide rail, and described the
Two bearings drive its rotation by the 3rd drive mechanism.
Also include positioner, the positioner includes locating support, spring and movable block, the planetary wheel
Movable block and locating support are sequentially provided with the outside of tooth, the pressure mounting of the spring is between the movable block and the locating support, institute
State movable block and be fixed with locating dowel towards a planetary forequarter, the movable block is towards the planet tooth
The side rear portion of wheel is provided with the first inclined plane, and the first bearing front end is taken over a business provided with annular, the excircle that the annular is taken over a business
Face is the angled circumferential face being engaged with first inclined plane, passes through axis side of first bearing along the movable disk
To movement, so as to drive the locating dowel planetary to be moved radially along described.
The second sub-link front end outer side rotates and is provided with rotary press head, and the lateral surface of the rotary press head is working face
And the working face can fit compression with the inner hole of planetary gear wall.
First drive mechanism and the second drive mechanism are cylinder.
3rd drive mechanism is motor.
Also include outer support, the 3rd drive mechanism is fixedly installed on the outer support, and second bearing passes through
Bearing is rotatably arranged in the outer support, and the locating support is fixedly installed on the outer support.
Three first connecting rods are along the circumferential direction evenly arranged with the movable disk.
The second bearing front end is fixed with three guide rails forward extended out.The present invention has following compared with prior art
Advantage：
1st, a kind of planetary gear assembly manipulator provided by the invention, by the driving of cylinder, motor, positioner is coordinated
Positioning action, with realize it is planetary crawl and its circumferential position adjustment, it is descending to adapt to different installation sites
The cooperation of star gear and internal gear.The present invention is applied widely, versatile, overcomes prior art middle gear to assemble relative position
The defects of being difficult to determine, cost is greatly reduced, is more beneficial for the automated production of planetary reducer.
2nd, a kind of planetary gear assembly manipulator provided by the invention, whole manipulator can be carried out by control system
Automatically controlling, reduce manual operation, be more beneficial for realizing the automatic control of manipulator, automaticity is high, so that
It is more accurate to obtain part relative position in assembling process, reduces rigging error, improves planetary reducer transmission accuracy.
3rd, a kind of planetary gear assembly manipulator provided by the invention, its rotary press head can rotate around bearing pin, ensure handgrip
The planetary gear surface of different pore size is can adapt to, so as to add the versatility of manipulator.The preferred knot of one kind as handgrip
Structure, circumferentially totally three handgrips are evenly distributed, the distribution of three handgrips can self-centering, ensure that the positional precision of assembling.
Second connecting rod that rotary press head includes its connection is replaced by other structures, so as to using realizing axle on same manipulator
Hold, the assembling of the various parts such as spline, gear, be a multifunction manipulator.
4th, a kind of planetary gear assembly manipulator provided by the invention, two drive cylinder, handgrip and the first motor
It is built in manipulator outer support, makes full use of manipulator inner space, topology layout is compact, small volume, saves space.
Brief description of the drawings
Fig. 1 is the half section structure diagram of the present invention.
Fig. 2 is the dimensional structure diagram of the handgrip of the present invention.
Fig. 3 is the use installation diagram of the present invention.
Label in figure：1 planetary gear；2 first sub-links；3 second sub-links；4 rotary press heads；5 movable blocks；51 positioning
Post；6 springs；7 first bearings；8 locating supports；9 second bearings；10 fixed disks；11 first connecting rods；12 movable disks；13 first gas
Cylinder；14 guide rails；15 sliding blocks；16 second cylinders；17 first motors；18 outer supports；19 mechanical arms；20 second motors；21 vertical axises
Decelerator；22 outer support supports；23 internal gears；24 planet carriers.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
Referring to Fig. 1 to Fig. 3, present embodiment discloses a kind of planetary gear assembly manipulator, including the fixation be arrangeding in parallel
Disk 10 and movable disk 12, are along the circumferential direction evenly arranged with least two first connecting rods 11 in movable disk 12, on fixed disk 10
Even to be provided with the second connecting rod corresponding with first connecting rod 11, second connecting rod is by the first sub-link 2 being fixedly connected and the second son
Connecting rod 3 is formed, and the angle that the first sub-link 2 and the second sub-link 3 are formed is first angle, and first angle is less than more than 0 °
180 °, second connecting rod is rotatably connected on fixed disk 10, and the first sub-link 2 and the second sub-link 3 stretch out fixed disk 10 respectively
Both sides, one end of first connecting rod 11 is rotatably connected in movable disk 12, the other end and corresponding first sub-link 2 are rotated and connected
Connect, three first connecting rods 11 are along the circumferential direction evenly arranged with movable disk 12, the front end outer side of the second sub-link 3 is rotated and is provided with
Rotary press head 4, the lateral surface of rotary press head 4 can fit compression for working face and working face with the inner hole wall of planetary gear 1；It is fixed
Disk 10 is fixedly installed on the first bearing 7, and first connecting rod 11, the first sub-link 2 and the second sub-link 3 collectively form grip
Point, by the first cylinder 13, it moves back and forth along the axis direction of movable disk 12 movable disk 12, so as to drive the second sub-link 3
Front end opening and closing, to realize the clamping of planetary gear 1, the first cylinder 13 is fixedly installed on the first bearing 7, the first bearing
7 drive it along the axis direction of movable disk 12 by the second cylinder 16 moves back and forth, and the second cylinder 16 is fixedly installed on second
On seat 9, the second bearing 9 is rotatably arranged in outer support 18 by bearing, and the front end of the second bearing 9 is fixed with three forward extended out
Individual guide rail 14, guide rail 14 is located at the periphery of the first bearing 7 and the length direction of guide rail 14 is parallel with the axis direction of movable disk 12,
The outer surface of first bearing 7 is along the circumferential direction fixedly installed three sliding blocks 15, and sliding block 15 corresponds with guide rail 14, and sliding block 15
It can be slided in corresponding guide rail 14, by its rotation of the first motor 17, the first motor 17 is fixedly installed to be propped up the second bearing 9 outside
On seat.
A kind of planetary gear assembly manipulator, in addition to positioner, positioner include locating support 8, spring 6 and lived
Motion block 5, the gear teeth outside of planetary gear 1 are sequentially provided with movable block 5 and locating support 8, and locating support 8 is fixedly installed on outer support
On 18, spring 6 is pressed between movable block 5 and locating support 8, and movable block 5 is fixed in the forequarter towards planetary gear 1 and set
There is locating dowel 51, movable block 5 is provided with the first inclined plane at the side rear portion towards planetary gear 1, and the front end of the first bearing 7 is provided with ring
Shape is taken over a business, and the outer circumference surface that annular is taken over a business is the angled circumferential face that is engaged with the first inclined plane, by the first bearing 7 along work
The axis direction movement of Moving plate 12, so as to drive the moving radially along planetary gear 1 of locating dowel 51.
The course of work for the planetary gear assembly manipulator that the present embodiment provides is as follows：
Start mechanical arm 19, the top of planetary gear 1 to be captured is moved to by the arm of mechanical arm 19, by the band of the second motor 22
Dynamic outer support 18 rotates, to ensure that crawl angle is consistent with plane residing for planetary gear 1.Pass through the flexible drive of the second cylinder 16
The movement of first bearing 7 so that handgrip moves to planetary gear 1, passes through the shifting of the flexible drive movable disk 12 of the first cylinder 13
It is dynamic, so as to drive the relative rotation of the sub-link 2 of first connecting rod 11 and first, so as to realize the opening and closing process of handgrip.First
Seat 7 jacks up movable block 5 while outside linear motion upwards, after handgrip moves on to 1 axis hole center of planetary gear,
The relative rotation for driving the sub-link 2 of first connecting rod 11 and first is moved by the first cylinder 13, so as to realize the opening of handgrip
Process.Rotary press head 4 is in contact with the hole wall of planetary gear 1, realizes that the crawl of planetary gear 1 is fixed by compressing.Pass through second
After the first bearing of flexible drive 7 of cylinder 16 withdraws certain distance, spring 6 drives movable block 5 to be moved to planetary gear 1, activity
The locating dowel 51 of block 5 withstands the flank of tooth of planetary gear 1.After the completion of withdrawal process, the first motor 17 drives the second bearing 9 to turn at a slow speed
It is dynamic, so as to drive the rotation of planetary gear 1, when the teeth groove of planetary gear 1 is gone to 51 position consistency of locating dowel, due to spring
6 driving causes the locating dowel 51 of movable block 5 to withstand the teeth groove of planetary gear 1, so as to prevent the first motor 17 from rotating, by the
The load feedback of one motor 17 controls the first motor 17 to stop operating, now the teeth groove symmetrical centre face of planetary gear 1 with it is fixed
The center overlapping of axles of position post 51, control system record planetary gear 1 are in initial position.Pass through the mobile drive row of mechanical arm 19
Star gear 1 is moved to the top of planet carrier 24 to be installed.When fixed annulus 23 is with planet carrier 24, ensure the first of planet carrier 24
Installation planet axis is centrally located on a certain gear teeth symmetrical centre face of internal gear 23, and label orientation.Pass through the rotation of the first motor 17
Turn to ensure that the plane of symmetry of locating support 8 is consistent with label orientation, now ensure that first planetary gear 1 is in correct position.It is logical
Cross the flexible of the second cylinder 16 to be positioned over planetary gear 1 on the planet wheel spindle of planet carrier 24, be aligned and be pushed into planetary gear 1
After the segment distance of planet wheel spindle one of planet carrier 24, by the movement of the flexible drive movable disk 12 of the first cylinder 13, so as to drive
The relative rotation of the sub-link 2 of first connecting rod 11 and first, so as to realize the condensation of handgrip, so as to put down planetary gear 1.Pass through
Flexible and mechanical arm 19 the linkage of second cylinder 16 causes handgrip to leave planetary gear 1.Second and other rows are installed
During star gear 1, relevant position corner, and 1 turn of rotation planetary gear for passing through the first motor 17 are calculated by control system
Planetary gear 1 is equally placed to correct position, then with first planetary gear 1 of installation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
- A kind of 1. planetary gear assembly manipulator, it is characterised in that:Including the fixed disk be arrangeding in parallel and movable disk, the activity At least two first connecting rods are along the circumferential direction evenly arranged with disk, are evenly arranged with the fixed disk and the first connecting rod Corresponding second connecting rod, the second connecting rod are made up of the first sub-link being fixedly connected and the second sub-link, and described first The angle that sub-link and the second sub-link are formed is first angle, and the first angle is more than 0 ° and is less than 180 °, and described second connects Bar is rotatably connected on the fixed disk, and first sub-link and the second sub-link stretch out the two of the fixed disk respectively Side, one end of the first connecting rod is rotatably connected in movable disk, the other end turns with the first sub-link of corresponding second connecting rod Dynamic connection；The fixed disk is fixedly installed on the first bearing, and the movable disk drives it along institute by the first drive mechanism State movable disk axis direction to move back and forth, so as to drive the front end opening and closing of second sub-link, to realize planet tooth The clamping of wheel, first drive mechanism are fixedly installed on first bearing, and first bearing passes through the second driving machine Structure drives it along the movable disk axis direction and moved back and forth, and second drive mechanism is fixedly installed on the second bearing, The second bearing front end is fixed with least two guide rails forward extended out, and the guide rail is located at the periphery of first bearing And the length direction of the guide rail is parallel with the axis direction of the movable disk, the first bearing outer surface is along the circumferential direction solid Surely at least two sliding blocks are provided with, the sliding block corresponds with the guide rail, and the sliding block can be in the corresponding guide rail Interior slip, second bearing drive its rotation by the 3rd drive mechanism.
- A kind of 2. planetary gear assembly manipulator as claimed in claim 1, it is characterised in that:Also include positioner, it is described Positioner includes locating support, spring and movable block, and movable block and positioning are sequentially provided with the outside of the planetary gear teeth Support, the pressure mounting of the spring is between the movable block and the locating support, and the movable block is towards the planetary gear A forequarter be fixed with locating dowel, the movable block is tilted being provided with first towards the planetary side rear portion Face, the first bearing front end are taken over a business provided with annular, and the outer circumference surface that the annular is taken over a business is to match with first inclined plane The angled circumferential face of conjunction, moved by axis direction of first bearing along the movable disk, so as to drive the positioning Post planetary moves radially along described.
- A kind of 3. planetary gear assembly manipulator as claimed in claim 1, it is characterised in that:Outside the second sub-link front end Side, which rotates, is provided with rotary press head, and the lateral surface of the rotary press head can be with the planetary gear for working face and the working face Inner hole wall fits compression.
- A kind of 4. planetary gear assembly manipulator as claimed in claim 1, it is characterised in that:First drive mechanism and Two drive mechanisms are cylinder.
- A kind of 5. planetary gear assembly manipulator as claimed in claim 1, it is characterised in that:3rd drive mechanism is electricity Machine.
- A kind of 6. planetary gear assembly manipulator as claimed in claim 2, it is characterised in that:Also include outer support, described Three drive mechanisms are fixedly installed on the outer support, and second bearing is rotatably arranged in the outer support by bearing, The locating support is fixedly installed on the outer support.
- A kind of 7. planetary gear assembly manipulator as claimed in claim 1, it is characterised in that:It is circumferentially square in the movable disk To being evenly arranged with three first connecting rods.
- A kind of 8. planetary gear assembly manipulator as claimed in claim 1, it is characterised in that:The second bearing front end is fixed Provided with three guide rails forward extended out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547127.4A CN106015528B (en) | 2016-07-12 | 2016-07-12 | A kind of planetary gear assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547127.4A CN106015528B (en) | 2016-07-12 | 2016-07-12 | A kind of planetary gear assembly manipulator |
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| Publication Number | Publication Date |
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| CN106015528A CN106015528A (en) | 2016-10-12 |
| CN106015528B true CN106015528B (en) | 2018-02-06 |
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| CN201610547127.4A Active CN106015528B (en) | 2016-07-12 | 2016-07-12 | A kind of planetary gear assembly manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054713B (en) * | 2016-11-28 | 2022-09-27 | 浙江理工大学 | Three-point hook-press type automatic material taking device for medical infusion tube |
| CN106826914A (en) * | 2016-12-02 | 2017-06-13 | 芜湖市诺康生物科技有限公司 | A kind of health products detect handgrip |
| CN109454443A (en) * | 2018-12-30 | 2019-03-12 | 泰州市东方传动技术有限公司 | A kind of planetary gear installation alignement device |
| CN111496519A (en) * | 2019-01-31 | 2020-08-07 | 浙江巨力电机成套设备有限公司 | Automatic material taking and assembling mechanical device for planet gear carrier |
| CN110695641B (en) * | 2019-10-18 | 2021-08-10 | 天星自动化(日照)有限公司 | Grabbing and assembling manipulator of planetary gear for speed reduction motor |
| CN111943032B (en) * | 2020-07-29 | 2022-05-31 | 山东省农业机械科学研究院 | Lifting appliance for lifting heavy workpiece and equipment and method for assembling slurry pump |
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| CN101107101A (en) * | 2004-11-17 | 2008-01-16 | Thk株式会社 | Robot joint structure and robot finger |
| CN103978493A (en) * | 2014-05-13 | 2014-08-13 | 健雄职业技术学院 | Self-centering mechanical arm |
| CN104890003A (en) * | 2015-06-16 | 2015-09-09 | 河北工业大学 | Three-claw gripping device |
| CN205745210U (en) * | 2016-07-12 | 2016-11-30 | 合肥工业大学 | A kind of planetary gear assembly manipulator |
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| JPH11123683A (en) * | 1997-10-22 | 1999-05-11 | Fanuc Ltd | Power control robot having drawing and disassembling function |
| US9084623B2 (en) * | 2009-08-15 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
| JP5791387B2 (en) * | 2011-06-23 | 2015-10-07 | キヤノン株式会社 | Automatic assembly apparatus and component assembly method using automatic assembly apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101107101A (en) * | 2004-11-17 | 2008-01-16 | Thk株式会社 | Robot joint structure and robot finger |
| CN103978493A (en) * | 2014-05-13 | 2014-08-13 | 健雄职业技术学院 | Self-centering mechanical arm |
| CN104890003A (en) * | 2015-06-16 | 2015-09-09 | 河北工业大学 | Three-claw gripping device |
| CN205745210U (en) * | 2016-07-12 | 2016-11-30 | 合肥工业大学 | A kind of planetary gear assembly manipulator |
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| CN106015528A (en) | 2016-10-12 |
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