Search

CN-122008304-A - Wrist supporting structure of palletizing robot and rigidity calibration method

CN122008304ACN 122008304 ACN122008304 ACN 122008304ACN-122008304-A

Abstract

The invention relates to the technical field of industrial robots, in particular to a wrist supporting structure of a palletizing robot and a rigidity calibration method. The structure comprises a small arm and a wrist, wherein the connecting ends of the small arm and the wrist are U-shaped, the small arm comprises a left small arm hinge lug and a right small arm hinge lug, the wrist comprises a left wrist hinge lug and a right wrist hinge lug, the left small arm hinge lug and the right small arm hinge lug are respectively positioned on the inner sides of the left wrist hinge lug and the right wrist hinge lug, the left small arm hinge lug and the left wrist hinge lug are hinged through a left short shaft assembly, and the right small arm hinge lug and the right wrist hinge lug are hinged through a right short shaft assembly. According to the invention, the wrist support rigidity is improved, the axial relative positions of the wrist and the small arm can be adjusted while the bearing pre-pressing requirement is met, so that the axial rigidity of the two hinge lugs of the wrist and the two hinge lugs of the small arm is improved.

Inventors

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

Assignees

  • 沈阳机器人产业发展集团有限公司

Dates

Publication Date
20260512
Application Date
20241111

Claims (8)

  1. 1. The wrist supporting structure of the palletizing robot comprises a small arm (4) and a wrist (5), and is characterized in that the connecting ends of the small arm (4) and the wrist (5) are of U-shaped structures; the forearm (4) comprises a left forearm hinge lug (401) and a right forearm hinge lug (402); The wrist (5) comprises a left wrist hinge (501) and a right wrist hinge (502); The left forearm hinge lug (401) and the right forearm hinge lug (402) are respectively positioned at the inner sides of the left wrist hinge lug (501) and the right wrist hinge lug (502), the left forearm hinge lug (401) and the left wrist hinge lug (501) are hinged through a left short shaft assembly, and the right forearm hinge lug (402) and the right wrist hinge lug (502) are hinged through a right short shaft assembly.
  2. 2. The palletizing robot wrist supporting structure according to claim 1, wherein the left side short shaft assemblies comprise short shafts (12), bearings (14), a gland (17) and gaskets (18), wherein one ends of the short shafts (12) are matched with and fixedly connected with the shaft holes of the left side small arm hinge lugs (401), the other ends of the short shafts (12) are connected with the left side wrist hinge lugs (501) through the bearings (14), the outer side end faces of the left side wrist hinge lugs (501) are connected with the gland (17), the gland (17) axially limits the bearings (14), and gaskets (18) for adjusting the axial supporting rigidity are arranged between the gland (17) and the bearings (14); the right stub shaft assembly is structurally identical to the left stub shaft assembly.
  3. 3. The palletizing robot wrist supporting structure according to claim 2, wherein the short shaft (12) is of a stepped shaft structure and comprises an inner shaft section (1201), an inner shaft shoulder (1202), a sealing shaft section (1204), an outer shaft shoulder (1205) and a bearing shaft section (1206) which are sequentially arranged along the axial direction, wherein the inner shaft section (1201) is matched with the shaft hole of the left forearm hinge lug (401) and is axially limited through the inner shaft shoulder (1202), the inner shaft shoulder (1202) is fixedly connected with the inner spigot positioning surface of the left forearm hinge lug (401) through a screw I (15), the sealing shaft section (1204) is in dynamic sealing connection with the left wrist hinge lug (501) through a rotary sealing ring (13), the bearing (14) is arranged on the bearing shaft section (1206), and the inner ring back surface of the bearing (14) is axially limited through the outer shaft shoulder (1205).
  4. 4. A palletizing robot wrist supporting structure according to claim 3, wherein the assembling and positioning surface of the gland (17) comprises a bearing outer ring back surface abutting surface (1701), a positioning ring surface (1702) and a wrist abutting surface (1703) which are sequentially arranged, wherein the bearing outer ring back surface abutting surface (1701) is tightly pressed against the gasket (18), the positioning ring surface (1702) is attached to the inner hole of the left wrist hinge (501), and the wrist abutting surface (1703) is attached to the outer side end surface of the left wrist hinge (501) and is connected through a screw II (16).
  5. 5. A method of calibrating stiffness of a palletizing robot wrist support structure as recited in claim 4, comprising the steps of: step S1, calibrating the axial rigidity between the left forearm hinge lug (401) and the left wrist hinge lug (501): s2, calibrating the axial rigidity between the right small arm hinge lug (402) and the right wrist hinge lug (502); s3, assembling the forearm (4) and the wrist (5), and controlling the axial relative positions of the forearm (4) and the wrist (5) through spacer distribution of the left joint and the right joint; and S4, measuring whether the supporting rigidity and the rotation moment of the forearm (4) and the wrist (5) are qualified or not.
  6. 6. The method of calibrating rigidity according to claim 5, characterized in that the axial rigidity calibration between the left forearm hinge ear (401) and the left wrist hinge ear (501) comprises the steps of: S1.1, measuring the axial dimension and tolerance of the outer side end surface of the left wrist hinge ear (501); s1.2, measuring the axial dimension and tolerance of an assembly positioning surface of the gland (17); s1.3, measuring the axial dimensions and tolerances of the back surface of the inner ring and the back surface of the outer ring of the bearing (14); S1.4, measuring the axial dimensions and tolerances of an inner shoulder (1202) and an outer shoulder (1205) of the short shaft (12); S1.5, measuring the axial dimension and tolerance of the inner spigot positioning surface of the left small arm hinge lug (401); And S1.6, determining the thickness dimension and the number of gaskets (18) in the left joint according to the axial dimension and tolerance accumulated values of the left wrist hinge (501), the gland (17), the bearing (14), the short shaft (12) and the left small arm hinge (401) obtained through measurement and compared with standard assembly axial dimension tolerance values.
  7. 7. The method of stiffness calibration of claim 5, wherein the axial stiffness calibration between the right forearm hinge (402) and the right wrist hinge (502) comprises the steps of: S2.1, measuring the axial dimension and tolerance of the outer side end surface of the right wrist hinge ear (502); S2.2, measuring the axial dimension and tolerance of an assembly positioning surface of the gland (17); S2.3, measuring the axial dimensions and tolerances of the back surface of the inner ring and the back surface of the outer ring of the bearing (14); S2.4, measuring the axial dimensions and tolerances of an inner shoulder (1202) and an outer shoulder (1205) of the short shaft (12); s2.5, measuring the axial dimension and tolerance of the inner spigot positioning surface of the right small arm hinge lug (402); And S2.6, determining the thickness size and the number of gaskets (18) in the right joint according to the axial sizes and tolerance accumulated values of the right wrist hinge lug (502), the gland (17), the bearing (14), the short shaft (12) and the right small arm hinge lug (402) obtained through measurement and compared with standard assembly axial size tolerance values.
  8. 8. The method of calibrating rigidity according to claim 5, characterized in that in step S3, the assembly process between the forearm (4) and the wrist (5) comprises the steps of: Step M1, respectively installing two rotary sealing rings (13) on the inner sides of a left wrist hinge (501) and a right wrist hinge (502); Step M2, respectively placing left forearm hinge ears (401) and right forearm hinge ears (402) on the inner sides of left wrist hinge ears (501) and right wrist hinge ears (502); A short shaft (12) sequentially penetrates into the left wrist hinge (501) and the left forearm hinge (401) from outside to inside, and the inner side end of the short shaft (12) is fixedly connected with the left forearm hinge (401) through a screw I (15); the other short shaft (12) sequentially penetrates into the right wrist hinge lug (502) and the right forearm hinge lug (402) from outside to inside, and the inner side end of the other short shaft (12) is fixedly connected with the right forearm hinge lug (402) through the other screw I (15); m4, respectively mounting two bearings (14) at the outer side ends of the two short shafts (12), and enabling the back surface of the inner ring of the bearings (14) to be close to an outer shaft shoulder (1205) of the short shaft (12); And M5, placing gaskets (18) with determined thickness and number at the back surfaces of the outer rings of the two bearings (14), installing two pressing covers (17), respectively fixedly connecting the two pressing covers (17) with the left wrist hinge (501) and the right wrist hinge (502) through screws II (16), and pressing the gaskets (18).

Description

Wrist supporting structure of palletizing robot and rigidity calibration method Technical Field The invention relates to the technical field of industrial robots, in particular to a wrist supporting structure of a palletizing robot and a rigidity calibration method. Background In the existing connecting structure between the corresponding small arm part and the wrist part of the industrial robot, one end of a long shaft is fixed on the wrist body in a conventional manner, and then the other end is used for pressing the inner ring of the bearing by using a pressing cover. As shown in fig. 8, in the connection supporting structure between the forearm portion 1A and the wrist portion 2A corresponding to the conventional industrial robot, it is customary in the industry to arrange two bearings 4A in the forearm portion 1A, one long shaft 5A penetrates through the joint, one end of the long shaft 5A is fixed in a hinge ear on one side of the wrist portion 2A, the middle part of the long shaft 5A forms a hinge kinematic pair with the forearm portion 1A through two conical roller bearings 4A, the outer ring of the conical roller bearings 4A is axially limited by a bearing cover 6A, and the other end of the long shaft 5A presses the inner ring of the conical roller bearing 4A by a cup-shaped pressing sleeve 3A. The combination of cup-shaped press sleeve 3A, long shaft 5A and bolt is connected to the other end of wrist portion 2A as a cylindrical pair, the axial support of which is floating, thus resulting in a too weak system rigidity. In addition, through the cooperation of the cup-shaped pressing sleeve 3A, the long shaft 5A and the bolt, the structure form of rigidity pre-tightening of the two bearings is provided, the axial relative positions of the small arm part 1A and the wrist part 2A can not be adjusted, and great rod length compensation difficulty is caused for software. Therefore, there is an urgent need for a wrist support structure of a palletizing robot and a rigidity calibration method that can improve the support rigidity and adjust the support rigidity. Disclosure of Invention Aiming at the problems, the invention aims to provide a wrist support structure of a palletizing robot and a rigidity calibration method, which are used for solving the problems that the existing industrial robot wrist support is weak in assembly rigidity and cannot adjust axial rigidity. In order to achieve the above purpose, the present invention adopts the following technical scheme: the invention provides a wrist supporting structure of a palletizing robot, which comprises a small arm and a wrist, wherein the connecting ends of the small arm and the wrist are both U-shaped structures; The forearm comprises a left forearm hinge lug and a right forearm hinge lug; The wrist comprises a left wrist hinge lug and a right wrist hinge lug; The left forearm hinge lug and the right forearm hinge lug are respectively positioned at the inner sides of the left wrist hinge lug and the right wrist hinge lug, the left forearm hinge lug and the left wrist hinge lug are hinged through a left short shaft assembly, and the right forearm hinge lug and the right wrist hinge lug are hinged through a right short shaft assembly. In a possible implementation manner, the left short shaft assembly comprises a short shaft, a bearing, a gland and a gasket, wherein one end of the short shaft is matched with and fixedly connected with the left small arm hinge pin hole, the other end of the short shaft is connected with the left wrist hinge pin through the bearing, the outer side end face of the left wrist hinge pin is connected with the gland, the gland axially limits the bearing, and the gasket for adjusting the axial supporting rigidity is arranged between the gland and the bearing; the right stub shaft assembly is structurally identical to the left stub shaft assembly. In a possible implementation manner, the short shaft is of a stepped shaft structure and comprises an inner shaft section, an inner shaft shoulder, a sealing shaft section, an outer shaft shoulder and a bearing shaft section which are sequentially arranged along the axial direction, wherein the inner shaft section is matched with the left small arm hinge pin hole and is axially limited through the inner shaft shoulder, the inner shaft shoulder is fixedly connected with an inner spigot locating surface of the left small arm hinge pin through a screw I, the sealing shaft section is in dynamic sealing connection with the left wrist hinge pin through a rotary sealing ring, the bearing is mounted on the bearing shaft section, and the back surface of an inner ring of the bearing is axially limited through the outer shaft shoulder. In a possible implementation manner, the assembly positioning surface of the gland comprises a bearing outer ring back surface abutting surface, a positioning annular surface and a wrist abutting surface which are sequentially arranged, wherein the bearing outer ri