Motor shaft runout adjustment device and adjustment method

Abstract

The present invention provides a motor shaft runout adjustment device and adjustment method, the adjustment device comprising: an adjustment tool, a tool motor, a torque sensor and a current detector. The adjustment tool is connected to the tool motor through a coupling transmission, which is used to transmit the power output by the tool motor. The adjustment tool is also connected to the motor assembly, which is used to adjust the shaft runout value of the motor assembly. The torque sensor is arranged between the coupling and the adjustment tool, which is used to detect the torque size when the adjustment tool rotates. The current detector is connected to the motor assembly, which is used to detect the current when the motor assembly is running. The motor shaft runout adjustment device can control the shaft runout value of the motor by adjusting the tool during motor assembly, and detect the shaft runout adjustment, thereby improving the adjustment efficiency and ensuring the yield rate of motor assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of motor assembly, and in particular to motor shaft runout adjustment, and specifically to a motor shaft runout adjustment device and an adjustment method. Background Art

[0002] With the development of industrial technology, collaborative robotic arms are more widely used in intelligent factories. At present, the joints of collaborative robots basically include harmonic reducers, servo motors, brakes, encoders, drivers and other components. The motor assembly is the core transmission component of the robotic arm joint, and the transmission performance directly affects the performance of the entire robotic arm.

[0003] The existing high-speed shaft runout control of each joint needs to be achieved based on the machining tolerance accuracy of the parts in the joint, and the matching dimension chain is long and difficult to guarantee. At the same time, there are certain requirements for the assembly technology of the assemblers, which greatly increases the manufacturing cost and labor cost. A large shaft runout will also affect the transmission performance of the motor and cause severe vibration. Usually, the shaft is supported at two points inside the motor. When supported at two points, the installation accuracy and installation error of the support bearing will cause the shaft runout to be more serious, affecting the motor performance.

[0004] Therefore, those skilled in the art are in urgent need of a motor shaft runout adjustment device that can reduce motor shaft runout during motor assembly, ensure assembly accuracy, and improve assembly efficiency. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a motor shaft runout adjustment device and an adjustment method to solve the problem in the prior art that low motor assembly accuracy leads to serious motor shaft runout, thereby affecting motor performance.

[0006] The present invention provides a motor shaft runout adjustment device, which includes: an adjustment tool, a tool motor, a torque sensor and a current detector, wherein the adjustment tool is connected to the tool motor through a coupling for transmitting power output by the tool motor; the adjustment tool is also connected to a motor assembly for adjusting the shaft runout value of the motor assembly; the torque sensor is arranged between the coupling and the adjustment tool for detecting the torque size when the adjustment tool rotates; the current detector is connected to the motor assembly for detecting the current when the motor assembly is running.

[0007] In an embodiment of the present invention, the adjusting tool has a shell, a connecting shaft is rotatably arranged in the shell through a bearing, one end of the connecting shaft is connected to the rotating shaft of the motor assembly, and the other end is connected to the output shaft of the tooling motor through the coupling, and is used to drive the rotating shaft of the motor assembly to rotate under the drive of the tooling motor; an inner ring adjustment ring and an outer ring adjustment ring are arranged between two adjacent bearings in the shell, which are used for positioning and pre-tightening the bearings.

[0008] Furthermore, a distance ring is sleeved on the connecting shaft, and the distance ring is fixed to the connecting shaft by a nut to limit the position of the bearing.

[0009] In an embodiment of the present invention, oil seals are provided between the two ends of the housing and the connecting shaft to prevent leakage of lubricating oil inside the housing.

[0010] Furthermore, an end cover is provided at one end of the shell close to the tooling motor, the connecting shaft passes through the through hole on the end cover, and the oil seal is provided between the end cover and the connecting shaft for sealing the shell; the end cover has an extension ring toward the inside of the shell for pressing the bearing.

[0011] In an embodiment of the present invention, the rotating shaft of the motor assembly is circumferentially fixedly connected to the connecting shaft to achieve synchronous rotation.

[0012] In an embodiment of the present invention, the coupling is concentrically arranged with the torque sensor to detect the magnitude of the torque during transmission.

[0013] The present invention provides a motor shaft runout adjustment method, the adjustment method comprising:

[0014] The adjustment fixture, fixture motor and motor assembly are connected in sequence and fixed on the test bench;

[0015] Start the tooling motor and drive the motor assembly to rotate at a constant speed by adjusting the tooling;

[0016] After rotating for a preset time, tighten the parts of the motor assembly to fix the position of the shaft;

[0017] Read the torque sensor value and convert it into the corresponding shaft jump value;

[0018] Determine whether the shaft runout value meets the assembly requirements;

[0019] If the assembly requirements are not met, replace the shaft of the motor assembly and reconnect the adjustment tooling for adjustment;

[0020] When the assembly requirements are met, disconnect the motor assembly from the adjustment fixture, and drive the motor assembly to rotate;

[0021] Read the maximum starting current of the motor component collected by the current detector;

[0022] Determine whether the current value meets the assembly requirements;

[0023] If the assembly requirements are not met, replace the shaft of the motor assembly and reconnect the adjustment tooling for adjustment;

[0024] When the assembly requirements are met, the shaft runout adjustment is completed.

[0025] Furthermore, the calculation formula for converting the torque value into the shaft runout value is:

[0026] Tc=(Mo-Mg) / A

[0027] Among them, Tc is the shaft runout value; Mo is the sensor torque value display value; Mg is the tooling friction torque value; A is the torque and shaft runout coefficient.

[0028] According to the above embodiments, the motor shaft runout adjustment device provided by the present invention has the following benefits: the motor shaft runout adjustment device can control the shaft runout value of the motor by adjusting the tooling during motor assembly, and adjust the shaft runout of the motor shaft so that its shaft runout value is controlled within a set range, greatly reducing the motor shaft runout, and improving the efficiency and yield rate of motor assembly. In addition, when adjusting the motor shaft runout, the shaft runout adjustment can also be detected to improve the efficiency of the adjustment and reduce the error of the adjustment.

[0029] It should be understood that the foregoing general description and the following detailed description are merely exemplary and illustrative and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following drawings are a part of the specification of the present invention, and illustrate exemplary embodiments of the present invention. Together with the description of the specification, the accompanying drawings are used to explain the principles of the present invention.

[0031] Figure 1 A schematic diagram of component connections of a motor shaft runout adjustment device provided by the present invention.

[0032] Figure 2 A structural diagram of an adjustment tooling for a motor shaft runout adjustment device provided by the present invention.

[0033] Figure 3 A flow chart of a motor shaft runout adjustment method provided by the present invention.

[0034] Description of reference numerals:

[0035] 1-adjustment tooling, 2-tooling motor, 3-torque sensor, 4-current detector, 5-coupling, 6-motor assembly;

[0036] 11-housing, 12-bearing, 13-connecting shaft, 14-inner ring adjusting ring, 15-outer ring adjusting ring, 16-distance ring, 17-nut, 18-oil seal, 19-end cover, 191-extension ring. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present invention will now be described in detail. This detailed description should not be considered as limiting the present invention, but should be understood as a more detailed description of certain aspects, features, and embodiments of the present invention.

[0038] It will be apparent to those skilled in the art that various modifications and variations may be made to the specific embodiments of the present invention description without departing from the scope or spirit of the present invention. Other embodiments derived from the present invention description will be apparent to those skilled in the art. The present application description and examples are exemplary only.

[0039] The present invention provides a motor shaft runout regulating device, such as Figure 1 The figure shows a schematic diagram of the connection of the components of the regulating device. In a specific implementation, the regulating device includes: a regulating tool 1, a tool motor 2, a torque sensor 3 and a current detector 4. The regulating tool 1 and the tool motor 2 are connected by a coupling 5 for transmitting the power output by the tool motor 2.

[0040] The adjusting tool 1 is also connected to the motor assembly 6, and the adjusting tool 1 drives the motor assembly 6 to rotate, thereby adjusting the shaft runout value of the motor assembly 6 during the rotation process, and then tightening the motor assembly 6 to fix the shaft position of the motor assembly 6 to achieve the adjustment of the shaft runout value of the motor assembly 6.

[0041] The torque sensor 3 is arranged between the coupling 5 and the adjusting fixture 1, and is used to detect the torque magnitude when the adjusting fixture 1 rotates. The detected torque magnitude is then converted into the shaft jump value magnitude, and then it is determined whether the shaft jump value adjustment meets the assembly requirements. In this embodiment, the torque sensor 3 is integrally arranged with the coupling 5, which reduces the node process of the connection, improves the connection efficiency and can ensure the accuracy of the torque measurement.

[0042] The current detector 4 is connected to the motor assembly 6 and is used to detect the current when the motor assembly 6 is running. After tightening the motor assembly 6, the connection between the motor assembly 6 and the adjustment fixture 1 is disconnected, and the motor assembly 6 is started. At this time, the current detector 4 is used to detect the maximum current value when the motor is started to determine whether the assembly of the motor assembly meets the assembly requirements.

[0043] In this embodiment, the adjustment tool 1, the tool motor 2 and the motor assembly 6 are all fixed on the test bench to avoid excessive shaking and displacement during the shaft runout adjustment process, ensure the stability of the shaft runout adjustment of the motor assembly 6, and improve the efficiency and success rate of the adjustment.

[0044] The shaft jump value of the adjusting fixture 1 is fixed. The adjusting fixture 1 drives the motor assembly 6 to rotate, so that the shaft jump value of the rotating shaft of the motor assembly 6 is close to the shaft jump value of the adjusting fixture 1, thereby achieving the effect of shaft jump value adjustment.

[0045] In a specific embodiment of the present invention, Figure 2 As shown, the adjusting fixture 1 has a housing 11, and a connecting shaft 13 is rotatably arranged in the housing 11 through a bearing 12. In this embodiment, two bearings 12 are arranged at both ends of the inner hole of the housing 11, and the two bearings 12 are respectively located at both ends of the connecting shaft 13, so as to ensure that the connecting shaft 13 can rotate in the inner hole of the housing 11. In addition, one end of the connecting shaft 13 is connected to the rotating shaft of the motor assembly 6, and the other end is connected to the output shaft of the fixture motor 2 through the coupling 5, so as to drive the rotating shaft of the motor assembly 6 to rotate under the drive of the fixture motor 2. In a specific implementation manner, the housing 11 is fixed on a test bench.

[0046] An inner ring adjustment ring 14 and an outer ring adjustment ring 15 are provided between two adjacent bearings in the housing 11 for positioning and pre-tightening the bearings 12. The inner ring adjustment ring 14 is used to tighten the inner rings of the two bearings 12, and the outer ring adjustment ring 15 is used to tighten the outer rings of the two bearings 12, playing the role of positioning and pre-tightening.

[0047] In this embodiment, the inner hole of the shell 11 is a stepped hole, the radius of the inner hole of the shell 11 on the side close to the motor assembly 6 is smaller than that on the other side, and the diameter of the connecting shaft 13 close to this side is larger than that on the other side. At this time, the bearing 12 on this side is limited and cannot move excessively toward the side of the motor assembly 6.

[0048] In a specific embodiment of the present invention, a distance ring 16 is sleeved on the connecting shaft 13, and the distance ring 16 is fixed to the connecting shaft 13 by a nut 17, so as to limit the position of the bearing 12. Specifically, the distance ring 16 is arranged on an end of the rotating shaft 13 away from the motor assembly 6, and the distance ring 16 is fixed to the connecting shaft 13 by a nut 17 and a gasket, so as to press the inner ring of the bearing 12 and limit the displacement of the bearing 12.

[0049] In a specific embodiment of the present invention, oil seals 18 are provided between the two ends of the housing 11 and the connecting shaft 13, and the oil seals 18 are used to prevent the leakage of lubricating oil inside the housing 11. In order to keep the bearing 12 and the connecting shaft 13 rotating normally and reduce friction, adding lubricating oil to the inner hole of the housing 1 helps to reduce the friction of the rotating shaft 12 and reduce bearing wear. Providing oil seals 18 at both ends of the inner hole can effectively prevent the leakage of lubricating oil and improve the lubrication time and lubrication effect.

[0050] In a specific embodiment of the present invention, an end cover 19 is provided at one end of the housing 11 close to the tooling motor 2, the connecting shaft 13 passes through a through hole on the end cover 19, and an oil seal 18 is provided between the end cover 19 and the connecting shaft 13 for sealing the housing 11. The oil seal 18 is provided at the through hole of the end cover 19 for sealing the connection gap between the connecting shaft 13 and the end cover 19.

[0051] The end cover 19 has an extension ring 191 toward the inside of the housing 11, which is used to press the bearing 12. The diameter of the extension ring 191 is equivalent to the diameter of the outer ring of the bearing, and is used to press the outer ring of the bearing 12 and limit the position. In addition, the end cover is fixed to the housing 1 by screws, which is convenient for disassembly.

[0052] In a specific embodiment of the present invention, the rotating shaft of the motor assembly 6 is circumferentially fixedly connected to the connecting shaft 13 to achieve synchronous rotation. Specifically, the rotating shaft of the motor assembly and the connecting shaft 13 can be limited in circumferential relative position by a key connection or a tooth connection. In this embodiment, the connecting shaft 13 has a connecting hole at the end of the side, and a tooth groove is provided in the connecting hole. The rotating shaft of the motor assembly has teeth, which cooperate with the tooth groove on the connecting shaft 13 to achieve connection without relative position change.

[0053] In a specific embodiment of the present invention, the coupling 5 is concentrically arranged with the torque sensor 3 to reduce the error of the detected torque and improve the detection accuracy. In this embodiment, the position of the tooling 2 on the test bench can be adjusted to ensure that the coupling 5 and the torque sensor 3 are concentrically arranged.

[0054] The present invention also provides a motor shaft runout adjustment method, such as Figure 3 As shown, the adjustment method includes:

[0055] Step S1: The adjustment tool, tool motor and motor assembly are connected in sequence and fixed on the test bench. Specifically, when connecting the tool motor and adjusting the tool, it is also necessary to set the torque sensor between the coupling and the adjustment tool, and adjust the position of the tool motor to keep the coupling and the torque sensor concentrically set. A current detector also needs to be electrically connected to the motor assembly to detect the starting current of the motor assembly. In addition, the torque sensor and the current detector are connected to the computer to read the values ​​of the torque sensor and the current detector and perform calculations and judgments.

[0056] Step S2: Start the tooling motor and drive the motor assembly to rotate at a constant speed by adjusting the tooling.

[0057] Step S3: After rotating for a preset time, tighten the parts of the motor assembly to fix the position of the shaft. Specifically, after starting the tooling motor, keep rotating at a constant speed for a period of time so that the rotation of the motor assembly shaft and the connecting shaft of the adjustment tooling remain stable and their shaft jump values ​​are close. Then tighten the motor assembly to fix the position of the motor assembly shaft.

[0058] Step S4: Read the torque sensor value and convert it into the corresponding shaft jump value. Specifically, the computer reads the torque value of the torque sensor, and then calculates the shaft jump value of the corresponding drink through the following equation. The calculation formula for converting the torque value to the shaft jump value is:

[0059] Tc=(Mo-Mg) / A

[0060] Among them, Tc is the shaft runout value; Mo is the sensor torque value display value; Mg is the tooling friction torque value; A is the torque and shaft runout coefficient. In addition, the tooling friction torque value Mg is a known parameter and can be directly substituted into the calculation. The adjustment tool is a standard adjustment part, and its friction torque has been measured when it is manufactured and assembled, so it does not need to be measured when it is used.

[0061] Step S5: Determine whether the shaft jump value meets the assembly requirements. Specifically, determine whether the shaft jump value Tc is greater than the preset shaft jump value. If the shaft jump value Tc is greater than the preset shaft jump value, the assembly of the motor assembly does not meet the assembly requirements; if the shaft jump value Tc is less than or equal to the preset shaft jump value, the assembly of the motor assembly meets the assembly requirements.

[0062] Step S61: When the assembly requirements are not met, the shaft of the motor assembly is replaced and the adjustment tool is reconnected for adjustment.

[0063] Step S62: When the assembly requirements are met, disconnect the motor assembly from the adjustment fixture, and drive the motor assembly to rotate.

[0064] Step S7: Read the maximum starting current of the motor assembly collected by the current detector. Specifically, the computer reads the maximum starting current value of the motor assembly measured by the current detector, and compares it with the set current value.

[0065] Step S8: Determine whether the current value meets the assembly requirements. Specifically, if the current value is greater than the set threshold, the assembly of the motor assembly does not meet the assembly requirements; if the current value is less than or equal to the set threshold, the assembly of the motor assembly meets the assembly requirements.

[0066] Step S91: When the assembly requirements are not met, the shaft of the motor assembly is replaced and the adjustment tooling is reconnected for adjustment.

[0067] Step S92: When the assembly requirements are met, the shaft runout adjustment is completed.

[0068] The above description is only an illustrative specific implementation manner of the present invention. Without departing from the concept and principle of the present invention, any equivalent changes and modifications made by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A motor shaft runout adjustment device, characterized in that: The regulating device comprises: a regulating tool (1), a tool motor (2), a torque sensor (3) and a current detector (4), wherein: The adjusting tool (1) and the tool motor (2) are connected in a transmission manner via a coupling (5) for transmitting power output by the tool motor (2); The adjusting tool (1) is also connected to the motor assembly (6) and is used to adjust the shaft runout value of the motor assembly (6); The torque sensor (3) is arranged between the coupling (5) and the adjusting fixture (1), and is used to detect the magnitude of the torque when the adjusting fixture (1) rotates; The current detector (4) is connected to the motor component (6) and is used to detect the current when the motor component (6) is running; The adjusting tool (1) comprises a housing (11), a connecting shaft (13) being rotatably arranged in the housing (11) via a bearing (12), one end of the connecting shaft (13) being connected to the rotating shaft of the motor assembly (6), and the other end of the connecting shaft (13) being connected to the output shaft of the tool motor (2) via the coupling (5), and being used for driving the rotating shaft of the motor assembly (6) to rotate under the drive of the tool motor (2); An inner ring adjustment ring (14) and an outer ring adjustment ring (15) are provided between two adjacent bearings in the housing (11) and are used for positioning and pre-tightening the bearings (12).

2. The motor shaft runout adjustment device according to claim 1, characterized in that: A distance ring (16) is sleeved on the connecting shaft (13), and the distance ring (16) is fixed to the connecting shaft (13) by a nut (17) to limit the position of the bearing (12).

3. The motor shaft runout adjustment device according to claim 1, characterized in that: Oil seals (18) are provided between the two ends of the housing (11) and the connecting shaft (13) to prevent leakage of lubricating oil inside the housing (11).

4. The motor shaft runout adjustment device according to claim 3, characterized in that: An end cover (19) is provided at one end of the housing (11) close to the tooling motor (2); the connecting shaft (13) passes through a through hole on the end cover (19); and an oil seal (18) is provided between the end cover (19) and the connecting shaft (13) for sealing the housing (11); The end cover (19) has an extension ring (191) toward the inside of the housing (11) for pressing the bearing (12).

5. The motor shaft runout adjustment device according to claim 1, characterized in that: The rotating shaft of the motor assembly (6) is circumferentially fixedly connected to the connecting shaft (13) to achieve synchronous rotation.

6. The motor shaft runout adjustment device according to claim 1, characterized in that: The coupling (5) is arranged concentrically with the torque sensor (3) and is used to detect the magnitude of the torque during transmission.

7. A method for adjusting motor shaft runout using the motor shaft runout adjustment device according to any one of claims 1 to 6, characterized in that: The method includes: The adjusting fixture, fixture motor and motor assembly are connected according to the connection method in the adjusting device and fixed on the test bench; Start the tooling motor and drive the motor assembly to rotate at a constant speed by adjusting the tooling; After rotating for a preset time, tighten the parts of the motor assembly to fix the position of the shaft; Read the torque sensor value and convert it into the corresponding shaft jump value; Determine whether the shaft runout value meets the assembly requirements; If the assembly requirements are not met, replace the shaft of the motor assembly and reconnect the adjustment tooling for adjustment; When the assembly requirements are met, disconnect the motor assembly from the adjustment fixture, and drive the motor assembly to rotate; Read the maximum starting current of the motor component collected by the current detector; Determine whether the current value meets the assembly requirements; If the assembly requirements are not met, replace the shaft of the motor assembly and reconnect the adjustment tooling for adjustment; When the assembly requirements are met, the shaft runout adjustment is completed.

8. The method for adjusting motor shaft runout according to claim 7, characterized in that: The calculation formula for converting torque value into shaft runout value is: Tc = (Mo-Mg) / A Among them, Tc is the shaft runout value; Mo is the sensor torque value display value; Mg is the tooling friction torque value; A is the torque and shaft runout coefficient.

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