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CN-122008146-A - Connecting rod supporting structure of palletizing robot and assembling method

CN122008146ACN 122008146 ACN122008146 ACN 122008146ACN-122008146-A

Abstract

The invention relates to the technical field of industrial robots, in particular to a connecting rod supporting structure of a palletizing robot and an assembling method. The structure comprises a large arm, a triangular connecting rod and a connecting rod hinge supporting shaft, wherein one end of the connecting rod hinge supporting shaft is connected with the large arm, the other end of the connecting rod hinge supporting shaft is connected with the triangular connecting rod through a bearing assembly, the bearing assembly comprises an inner bearing, a supporting sleeve and an outer bearing which are coaxially arranged from inside to outside in sequence, two ends of the supporting sleeve are respectively abutted with the back surfaces of an outer ring of the inner bearing and the outer bearing, the back surface of the inner ring of the inner bearing is abutted with a shaft shoulder of the connecting rod hinge supporting shaft, the inner ring of the outer bearing is axially limited through a limiting assembly sleeved on the connecting rod hinge supporting shaft, the front surface of the outer ring of the outer bearing is axially limited through an end cover, and the end cover is connected to the outer end surface of the triangular connecting rod. According to the invention, the two bearing outer rings are supported by the support sleeve, so that serialization and standardization of products are facilitated, different support rigidity can be obtained by different lengths of the support sleeve, and contact of the two bearing retainers is avoided.

Inventors

  • MA ZILIANG
  • SHI ZHEHAN
  • ZHU ANJIE
  • CHEN XU
  • ZHU WEIJIN

Assignees

  • 沈阳机器人产业发展集团有限公司

Dates

Publication Date
20260512
Application Date
20241111

Claims (9)

  1. 1. The robot palletizer connecting rod supporting structure is characterized by comprising a large arm (3), a triangular connecting rod (10) and a connecting rod hinge supporting shaft (12), wherein one end of the connecting rod hinge supporting shaft (12) is connected with the large arm (3), the other end of the connecting rod hinge supporting shaft (12) is connected with the triangular connecting rod (10) through a bearing assembly, the bearing assembly comprises an inner bearing (14), a supporting sleeve (24) and an outer bearing (15) which are coaxially arranged from inside to outside in sequence, two ends of the supporting sleeve (24) are respectively abutted against the back surfaces of an outer ring of the inner bearing (14) and the outer bearing (15), the back surface of an inner ring of the inner bearing (14) is abutted against a shaft shoulder of the connecting rod hinge supporting shaft (12), the inner ring of the outer bearing (15) is axially limited through a limiting assembly sleeved on the connecting rod hinge supporting shaft (12), and the front surface of the outer ring of the outer bearing (15) is axially limited through an end cover (23), and the front surface of the outer ring of the end cover (23) is connected on the outer end surface of the triangular connecting rod (10).
  2. 2. The palletizing robot connecting rod supporting structure according to claim 1, wherein a limiting ring (2301) and a plurality of connecting holes (2304) circumferentially surrounding the outer side of the limiting ring (2301) are arranged on an inner side flange end face (2303) of the end cover (23), wherein the inner side flange end face (2303) is attached to the outer side end face of the triangular connecting rod (10), the outer circumferential face of the limiting ring (2301) is attached to the inner wall of a shaft hole of the triangular connecting rod (10), the end part of the limiting ring (2301) is abutted to the front face of the outer ring of the outer side bearing (15), and the end cover (23) is connected with the triangular connecting rod (10) through a plurality of screws (22) penetrating through the connecting holes (2304).
  3. 3. The palletizing robot connecting rod supporting structure according to claim 2, wherein the spacing ring (2301) of the end cover (23) and the triangle connecting rod (10) are sealed by an O-shaped sealing ring (21), and the O-shaped sealing ring (21) is embedded in an inner hole sealing ring groove (2302) arranged on the outer circumference of the spacing ring (2301).
  4. 4. The palletizing robot connecting rod supporting structure according to claim 2, wherein the limiting assembly comprises a stop washer (16) for a nut and a nut (17), wherein the stop washer (16) for the nut and the nut (17) are sequentially sleeved on the rod hinge supporting shaft (12), and the nut (17) is in threaded connection with the rod hinge supporting shaft (12).
  5. 5. The palletizing robot connecting rod supporting structure according to claim 4, wherein the inner and outer side edges of the nut stop washer (16) are respectively provided with an inner tongue (1601) and an outer tongue (1602), the inner tongue (1601) is engaged with the rod hinge supporting shaft (12), and the outer tongue (1602) is engaged with the nut (17).
  6. 6. The palletizing robot connecting rod supporting structure according to claim 5, wherein the rod hinge supporting shaft (12) is a stepped shaft, and comprises a sealing shaft section (1201), a bearing mounting section (1204) and a threaded shaft section (1206) which are sequentially arranged along the axial direction, wherein the sealing shaft section (1201) is in sealing connection with the triangular connecting rod (10) through a lip-shaped sealing ring (13), the bearing mounting section (1204) is provided with the bearing assembly, a stop washer key groove (1207) is axially arranged on the outer circumference of the threaded shaft section (1206), the threaded shaft section (1206) is in threaded connection with the nut (17), and an inner tongue (1601) of the stop washer (16) for the nut is clamped in the stop washer key groove (1207).
  7. 7. The palletizing robot connecting rod supporting structure according to claim 6, wherein the root of the threaded shaft section (1206) close to the bearing mounting section (1204) is provided with a ring groove (1205), and the nut is clamped in the ring groove (1205) by a stop washer (16).
  8. 8. The palletizing robot connecting rod supporting structure according to claim 6, wherein a clamping groove (1701) is axially arranged on the outer circumference of the nut (17), and the outer tongue (1602) of the nut is clamped in the clamping groove (1701) by a stop washer (16).
  9. 9. A method of assembling a palletizing robot link support structure as recited in claim 8, comprising the steps of: S1, connecting one end of a connecting rod hinge supporting shaft (12) is connected with a large arm (3); s2, installing a lip-shaped sealing ring (13) in an installation hole of the triangular connecting rod (10), wherein the lip of the lip-shaped sealing ring (13) is inward; S3, installing a connecting rod hinge support shaft (12) in the lip-shaped sealing ring (13), wherein a sealing shaft section (1201) of the connecting rod hinge support shaft (12) and the lip-shaped sealing ring (13) form rotary dynamic sealing; S4, mounting the inner bearing (14), the supporting sleeve (24) and the outer bearing (15) in place from inside to outside in a back-to-back mounting mode; S5, mounting a round nut stop washer (16) on the connecting rod hinge support shaft (12), wherein the round nut stop washer (16) is in contact with the back surface of the inner ring of the outer side bearing (15), an inner tongue (1601) of the nut stop washer (16) is clamped into a stop washer key groove (1207) of the connecting rod hinge support shaft (12), and the nut (18) is screwed with a threaded shaft section (1206) of the connecting rod hinge support shaft (12) to be in contact with the nut stop washer (16); Step S6, screwing the nut (18) to a specified torque range through a torque wrench, and clamping an outer tongue (1602) of a stop washer (16) for the nut into a clamping groove (1801) of the nut (18); s7, sleeving an O-shaped sealing ring (21) into an inner hole sealing ring groove (2302) of an end cover (23), and then inserting the end cover (23) into a bearing mounting hole (1002) of a triangular connecting rod (10) to form static seal; s8, abutting the inner end surface of an inner hole ring (2301) of the end cover (23) against the front surface of the outer ring of the outer side bearing (15); And S9, a screw (22) passes through the screw unthreaded hole (2304) and is in threaded fit with the threaded hole (1004) of the triangular connecting rod (10). The screw (22) is loaded with proper locking torque by adopting a torque wrench, so that the outer rings of the inner bearing (14) and the outer bearing (15) are relatively fixed with the triangular connecting rod (10).

Description

Connecting rod supporting structure of palletizing robot and assembling method Technical Field The invention relates to the technical field of industrial robots, in particular to a connecting rod supporting structure of a palletizing robot and an assembling method. Background In the hinge between auxiliary connecting rods corresponding to the existing industrial robot or in the connecting hinge structure of the auxiliary connecting rods and related structures, the prior art is conventionally used for locking an inner ring of a bearing, and then an outer ring is used for providing a bearing pretightening force retaining ring to solve the structural form of bearing positioning. However, the corresponding structure of the bearing outer ring for providing the bearing pretightening force retaining ring has higher processing and assembling difficulties, and special cutters, processes, tools and tools are needed. Meanwhile, the bearing pretightening force retaining ring is provided through the bearing outer ring, so that the product performance is ensured, and meanwhile, the corresponding palletizing robot has the characteristics of light weight and weak rigidity. Because the large arm, the small arm, the connecting rod and other construction structures of the palletizing robot are light and weak in rigidity, the connecting rod is easy to shake in a high-speed palletizing working state of the palletizing robot, and the palletizing precision is influenced. As shown in fig. 1 and 2, in the auxiliary link hinge structure corresponding to the conventional industrial robot, the large arm 3 is connected to the triangle link 10 through the hinge support shaft 12, the space between the hinge support shaft 12 and the triangle link 10 is sealed through the lip seal ring 13, the inside bearing 14 and the outside bearing 15 are mounted back to back on the link hinge support shaft 12, the inner ring of the outside bearing 15 is locked by the nut stop washer 16 and the nut 17, the outer ring of the outside bearing 15 is axially limited by the pressure sleeve 19 and the hole snap spring 20, the snap spring 20 is embedded in the groove on the inner hole of the triangle link 10, and the hole snap spring 20 corresponds to a snap ring for providing bearing pre-tightening force. The snap ring for the pre-tightening force of the bearing provides the pre-tightening force of the bearing by utilizing the matching of the inclined plane of the snap ring and the inclined plane of the mounting groove and the elastic force of the snap ring, and also provides the pre-tightening force of the bearing by utilizing the elastic force of the spatial deformation of the snap ring. However, such snap springs require specially designed grooves and special tools, which increase the difficulty in manufacturing and assembling the product. Therefore, there is an urgent need for a palletizing robot connecting rod supporting structure and an assembling method that are simple to process and assemble. Disclosure of Invention Aiming at the problems, the invention aims to provide a connecting rod supporting structure of a palletizing robot and an assembling method thereof, so as to solve the problem that the existing connecting rod supporting structure of the palletizing robot is difficult to process and assemble. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention provides a robot palletizer connecting rod supporting structure which comprises a large arm, a triangular connecting rod and a connecting rod hinge supporting shaft, wherein one end of the connecting rod hinge supporting shaft is connected with the large arm, the other end of the connecting rod hinge supporting shaft is connected with the triangular connecting rod through a bearing assembly, the bearing assembly comprises an inner bearing, a supporting sleeve and an outer bearing which are coaxially arranged from inside to outside in sequence, two ends of the supporting sleeve are respectively abutted against the back surfaces of an outer ring of the inner bearing and the outer bearing, the back surface of an inner ring of the inner bearing is abutted against a shaft shoulder of the connecting rod hinge supporting shaft, the inner ring of the outer bearing is axially limited through a limiting assembly sleeved on the connecting rod hinge supporting shaft, the front surface of the outer ring of the outer bearing is axially limited through an end cover, and the end cover is connected to the outer end surface of the triangular connecting rod. In one possible implementation manner, the inner flange end face of the end cover is provided with a limiting ring and a plurality of connecting holes circumferentially surrounding the outer side of the limiting ring, wherein the inner flange end face is attached to the outer side end face of the triangular connecting rod, the outer circumferential face of the limiting ring is attached to the inner wall of