Phase-type robot motor assembly device and method

Abstract

The present invention relates to the technical field of motor and reducer assembly, and more particularly to a phase-type robot motor assembly device and method. The device comprises a traveling frame, a front floating cylinder, a rear floating cylinder, and a floating platform, wherein the floating platform is disposed above the traveling frame, the front end of the floating platform being hinged to the traveling frame via two front floating cylinders, and the rear end of the floating platform being hinged to the traveling frame via a rear floating cylinder; the floating platform is used to connect to an industrial robot on which a motor is to be assembled. In the floating state, the present invention achieves phase micro-motion matching and meshing of the three spur gears of the reducer with the input gears of the servo motor assembly. The docking process requires minimal manual intervention and is highly automated, thereby enabling rapid docking of the motor and reducer.

Description

Technical Field

[0001] The present invention relates to the technical field of motor and reducer assembly, and in particular to a phase-type robot motor assembly device and method. Background Art

[0002] Currently, mechanical connection methods between motors and reducers include flange connections, belt transmission connections, or couplings. These mechanical connection methods are complex and time-consuming during installation or motor replacement, making them inadequate for rapid motor replacement. In particular, the meshing and assembly of the gear shaft of an industrial robot's motor and the three spur gears of its RV-type reducer require specific phase requirements, and the assembly process is essentially blind. Due to the motor's excessive weight, operating the motor is ergonomically demanding and laborious, potentially leading to occupational health risks. Summary of the Invention

[0003] In view of the above problems, the purpose of the present invention is to provide a phase-type robot motor assembly device and method to solve the problems of traditional manual operation, blind assembly, laborious and troublesome, and low assembly accuracy.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] One embodiment of the present invention provides a phase-type robot motor assembly device, including a walking frame, a front floating cylinder, a rear floating cylinder and a floating platform, wherein the floating platform is arranged above the walking frame, the front end of the floating platform is hinged to the walking frame through two front floating cylinders, and the rear end of the floating platform is hinged to the walking frame through a rear floating cylinder.

[0006] In one possible implementation, the floating platform includes a floating frame, a front hinged seat, and a rear hinged seat, wherein two front hinged seats are provided on both sides of the front end of the floating frame, and a rear hinged seat is provided at the rear end of the floating frame; the two front hinged seats are respectively hinged to the two front floating cylinders, and the rear hinged seat is hinged to the rear floating cylinder;

[0007] The front end of the floating frame is an open structure and is provided with a latch for connecting to an industrial robot.

[0008] In one possible implementation, the axis of the hinge hole of the front hinge seat is parallel to the traveling direction of the traveling frame; the axis of the hinge hole of the rear hinge seat is perpendicular to the traveling direction of the traveling frame.

[0009] In one possible implementation, the walking frame includes a lower frame and walking wheels arranged at the bottom of the lower frame, wherein the front end of the lower frame is an open structure.

[0010] In one possible implementation, the front floating cylinder includes a floating shaft, a floating cylinder body, a floating cylinder rod and a floating joint, wherein the floating cylinder rod is slidingly fitted with the floating cylinder body, the end of the floating cylinder rod is rotatably connected to the floating joint, and the floating joint is hinged to the front articulated seat; the floating shaft is vertically connected to the lower frame and is rotatable, and the upper end of the floating shaft is hinged to the tail of the floating cylinder body.

[0011] In one possible implementation, the two front floating cylinders are arranged on both sides of the front end of the lower frame, a lower hinge seat is provided in the middle position of the rear end of the lower frame, the tail of the rear floating cylinder is hinged to the lower hinge seat, and the output end of the rear floating cylinder is hinged to the rear hinge seat of the floating platform.

[0012] In a possible implementation, a foot switch is provided on the lower frame, and the foot switch is used to control the movement of the front floating cylinder and the rear floating cylinder.

[0013] In one possible implementation, the walking wheel includes two rollers and a universal wheel, wherein the universal wheel is arranged in the middle position of the rear end of the lower frame, and the installation height is adjustable; the two rollers are respectively arranged on both sides of the front end of the lower frame and are provided with brakes.

[0014] Another embodiment of the present invention provides a motor assembly method using the phase-type robot motor assembly device described above, the motor assembly method comprising the following steps:

[0015] Fix the industrial robot including the reducer to the ground;

[0016] The walking frame is close to the industrial robot and contains the industrial robot in the opening at the front end of the lower frame;

[0017] Connect the floating platform to the arm of the industrial robot;

[0018] brakes on brake rollers;

[0019] Manually align the axis of the input gear of the servo motor assembly with the center line of the reducer;

[0020] The manual foot pedal touches the foot switch, triggering the front and rear floating cylinders to move, driving the floating platform to change its posture, and changing the phase of the three spur gears of the reducer through the large arm, so that the input gear of the servo motor assembly engages with the three spur gears of the reducer;

[0021] Manually push the servo motor assembly forward to mate the motor stop with the reducer stop;

[0022] Manually continue to push the servo motor assembly forward to make the motor sealing surface fit with the speed reducer confidential cover;

[0023] Fix the motor and reducer with screws.

[0024] In one possible implementation, one end of the arm is connected to the output end of the reducer, and the other end of the arm is rotatably connected to the floating platform via a latch;

[0025] When the floating platform changes its posture, the arm drives the output end of the reducer in reverse, so that the three spur gears of the reducer match the phases of the input gear of the servo motor assembly, and the input gear is manually inserted between the three spur gears and meshed with each other.

[0026] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0027] 1. The present invention provides a phase-type robot motor assembly device and method, which realizes the phase micro-motion of the three spur gears of the reducer and the phase matching and meshing of the input gear of the servo motor assembly in a floating state. The docking process requires less manual intervention and has a high degree of automation, which meets the requirements of rapid docking of the motor and the reducer.

[0028] 2. The present invention provides a phase-type robot motor assembly device and method, which gradually adapts and matches the input gear and spur gear meshing assembly process, the motor stop and the reducer stop match, and the motor mating surface and the reducer mating surface fit, making the guided installation more convenient.

[0029] 3. The phase-type robot motor assembly device and method provided by the present invention are simple to operate, meet the needs of rapid docking, and are ergonomic.

[0030] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0031] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 An isometric view of a phase-type robotic motor assembly device according to the present invention;

[0034] Figure 2 This is a rear view of a phase-type robot motor assembly device according to the present invention;

[0035] Figure 3It is an isometric view of the floating platform of the present invention;

[0036] Figure 4 It is a structural schematic diagram of the front floating cylinder in the present invention;

[0037] Figure 5 This is a schematic diagram of a phase-type robot motor assembly device in use according to the present invention;

[0038] Figure 6 This is a cross-sectional view of the robot motor and reducer during the assembly process of the present invention;

[0039] In the figure: 1 is the lower frame, 2 is the roller, 3 is the front floating cylinder, 301 is the floating shaft, 302 is the floating cylinder body, 303 is the floating cylinder rod, 304 is the floating joint, 4 is the rear floating cylinder, 5 is the floating platform, 501 is the latch, 502 is the lateral rectangular tube, 503 is the transverse tube, 504 is the rear articulated seat, 505 is the front articulated seat, 6 is the servo motor assembly, 601 is the input gear, 602 is the motor stop, 603 is the motor sealing surface, 7 is the robot base, 8 is the waist seat, 9 is the upper arm, 10 is the reducer, 1001 is the spur gear, 1002 is the reducer stop, 1003 is the reducer confidential cover, and 11 is the universal wheel. DETAILED DESCRIPTION

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0042] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0044] One embodiment of the present invention provides a phase-type robot motor assembly device, which achieves phase micro-motion of the three spur gears of the reducer and the phase matching and meshing of the input gear of the servo motor assembly in a floating state. The docking process requires less manual intervention and has a high degree of automation, meeting the requirements of rapid docking of the motor and reducer. Figure 1 、 Figure 2 As shown, the phase-type robot motor assembly device includes a walking frame, a front floating cylinder 3, a rear floating cylinder 4 and a floating platform 5, wherein the floating platform 5 is arranged above the walking frame, the front end of the floating platform 5 is hinged to the walking frame through two front floating cylinders 3, and the rear end of the floating platform 5 is hinged to the walking frame through a rear floating cylinder 4; the floating platform 5 is used to connect with the industrial robot to which the motor is to be assembled.

[0045] In this embodiment of the present invention, the traveling frame includes a lower frame 1 and traveling wheels disposed at the bottom of the lower frame 1. The front end of the lower frame 1 is open. Specifically, two front floating cylinders 3 are arranged on either side of the front end of the lower frame 1, and a rear floating cylinder 4 is positioned in the middle of the rear end of the lower frame 1.

[0046] Furthermore, a foot switch is provided on the lower frame 1 , and the foot switch is used to control the movement of the front floating cylinder 3 and the rear floating cylinder 4 , thereby changing the posture of the floating platform 5 .

[0047] Preferably, the lower frame 1 is a planar frame welded from square steel, with a fork-shaped front end for easy insertion into the robot base 7 and a rectangular frame at the rear end.

[0048] In this embodiment of the present invention, the travel wheels include two rollers 2 and a universal wheel 11. The universal wheel 11 is positioned at the center of the rear end of the lower frame 1 and is mounted at an adjustable height. Adjusting the height of the universal wheel 11 adjusts the inclination angle of the lower frame 1; in other words, the inclination angle between the axis of the floating platform 5 and the ground can be adjusted. The adjustment mechanism of the universal wheel 11 is preferably a self-locking spiral structure. The two rollers 2 are respectively positioned on either side of the front end of the lower frame 1 and are equipped with brakes.

[0049] See also Figure 3 As shown, in an embodiment of the present invention, the floating platform 5 includes a floating frame, a front articulated seat 505 and a rear articulated seat 504, wherein two front articulated seats 505 are provided on both sides of the front end of the floating frame, and a rear articulated seat 504 is provided in the middle position of the rear end of the floating frame; the two front articulated seats 505 are respectively articulated to the two front floating cylinders 3, and the rear articulated seat 504 is articulated to the rear floating cylinder 4; the front end of the floating frame is an open structure, and is provided with a pin 501 for connecting to the industrial robot.

[0050] Furthermore, the axis of the hinge hole of the front hinge seat 505 is parallel to the traveling direction of the traveling frame; the axis of the hinge hole of the rear hinge seat 504 is perpendicular to the traveling direction of the traveling frame.

[0051] Specifically, the floating frame includes two lateral rectangular tubes 502 and two transverse tubes 503 . The two lateral rectangular tubes 502 are arranged in parallel and connected by the two transverse tubes 503 .

[0052] See also Figure 4 As shown, in an embodiment of the present invention, the front floating cylinder 3 includes a floating shaft 301, a floating cylinder body 302, a floating cylinder rod 303 and a floating joint 304, wherein the floating cylinder rod 303 is slidably fitted with the floating cylinder body 302, the end of the floating cylinder rod 303 is rotatably connected to the floating joint 304, and the floating joint 304 is hinged to the front articulated seat 505; the floating shaft 301 is vertically connected to the lower frame 1 and is rotatable, and the upper end of the floating shaft 301 is hinged to the tail of the floating cylinder body 302.

[0053] Preferably, the front and rear floating cylinders 3 and 4 can be constructed using commonly available components such as linear electric cylinders, pneumatic cylinders, and hydraulic cylinders, enabling relative floating between the lower frame 1 and the floating platform 5. A manual footswitch can be used to control the extension and retraction of the front and rear floating cylinders 3 and 4. The lower frame 1, front and rear floating cylinders 3 and 4, and the floating platform 5 form a spatial floating mechanism. The coupled motion of the front and rear floating cylinders 3 and 4 causes the latch 501 to move along an arcuate trajectory.

[0054] The floating platform 5 preferably utilizes a flat, welded square steel frame. Its front end is forked to facilitate insertion into the end of the robot's main arm 9, while its rear end is a square frame. Two transverse tubes 503 are located inside the center and rear ends of the two lateral rectangular tubes 502, preferably welded together. A latch 501 can be inserted laterally into the front end of the floating platform 5 and into a reamed hole at the end of the robot's main arm 9 for calibrating the mechanical zero position. This latch 501 creates a temporary rotational joint between the end of the main arm 9 and the floating platform 5.

[0055] See also Figure 5As shown, the present invention provides a phase-type robot motor assembly device suitable for assembling the motor and reducer of an industrial robot. The gear shaft of the industrial robot's motor and the three spur gears of the robot's RV-type reducer are meshed and assembled with specific phase requirements. Specifically, the industrial robot comprises a robot base 7, a waist base 8, and an arm 9, which are rotatably connected in sequence. The housing of the reducer 10 is connected to the waist base 8. The output end of the reducer 10 is connected to one end of the arm 9, and the other end of the arm 9 is connected to the floating platform 5 via a latch 501, allowing the arm 9 and the floating platform 5 to rotate relative to each other. During operation, a foot switch controls the micro-movement of the front and rear floating cylinders 3 and 4, thereby changing the position of the floating platform 5, which in turn drives the arm 9, causing the arm 9 to reversely drive the output end of the reducer 10, aligning the phases of the three spur gears 1001 of the reducer 10 with the input gear 601 of the servo motor assembly 6. The input gear 601 is inserted between the three spur gears 1001 and meshing with each other. During this assembly process, the servo motor assembly 6 is manually docked with the reducer 10. In the floating state, the three spur gears 1001 of the reducer 10 are finely phased and meshed with the input gear 601 of the servo motor assembly 6. The docking process requires less manual intervention and has a high degree of automation, which satisfies the requirement for fast docking between the motor and the reducer.

[0056] Based on the above embodiments, another embodiment of the present invention provides a motor assembly method, which is implemented using the phase-type robot motor assembly device in any of the above embodiments. Figure 5 、 Figure 6 As shown, the motor assembly method includes the following steps:

[0057] Fixing the industrial robot including the reducer 10 to the ground;

[0058] The walking frame is close to the industrial robot and contains the industrial robot into the opening at the front end of the lower frame 1;

[0059] Connect the front opening of the floating platform 5 to the arm 9 of the industrial robot so that the arm 9 and the floating platform 5 can rotate relative to each other;

[0060] The brake on the brake roller 2 fixes the walking frame;

[0061] Manually align the axis of the input gear 601 of the servo motor assembly 6 with the center line of the speed reducer 10;

[0062] The manual foot pedal touches the foot switch, triggering the front floating cylinder 3 and the rear floating cylinder 4 to move slightly, driving the floating platform 5 to change its posture, so that the input gear 601 of the servo motor assembly 6 is engaged with the three spur gears 1001 of the speed reducer 10;

[0063] Manually push the servo motor assembly 6 forward so that the motor stop 602 is mated with the reducer stop 1002;

[0064] The servo motor assembly 6 is manually pushed forward to make the motor sealing surface 603 fit with the deceleration confidential cover 1003;

[0065] Fix the motor and reducer with screws;

[0066] The traveling frame moves away from the industrial robot and the assembly is completed.

[0067] In this embodiment of the present invention, one end of the boom 9 is connected to the output of the speed reducer 10, while the other end of the boom 9 is rotationally connected to the floating platform 5 via a latch 501. The floating platform 5 is supported by three kinematic branches (two front floating cylinders 3 and one rear floating cylinder 4), which adjust the platform's posture. When the floating platform 5 changes its posture, it drives the latch 501 to slightly move along an arc, causing the boom 9 to reversely drive the output of the speed reducer 10, aligning the three spur gears 1001 of the speed reducer 10 with the input gear 601 of the servo motor assembly 6. The input gear 601 then meshes between the three spur gears 1001.

[0068] The present invention provides a phase-type robot motor assembly method. The gear shaft of an industrial robot's motor and the three spur gears of the robot's RV-type reducer are meshed and assembled with specific phase requirements. During the motor and reducer assembly process, the motor's input gear meshes with the reducer's spur gears, the motor's stopper mates with the reducer's stopper, and the motor's mating surfaces align with the reducer's mating surfaces, allowing for gradual adaptation and matching, making guided installation more convenient.

[0069] The present invention provides a phase-type robot motor assembly device and method, which are simple to operate, meet the needs of rapid docking, and are ergonomic.

[0070] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A phase type robot motor assembly method, characterized in that, The method is implemented by a phase-type robot motor assembly device; The phase-type robot motor assembly device comprises a traveling frame, a front floating cylinder (3), a rear floating cylinder (4) and a floating platform (5), wherein the floating platform (5) is arranged above the traveling frame, the front end of the floating platform (5) is hinged to the traveling frame via two front floating cylinders (3), and the rear end of the floating platform (5) is hinged to the traveling frame via a rear floating cylinder (4); the floating platform (5) is used to connect to the industrial robot on which the motor is to be assembled; The floating platform (5) comprises a floating frame, a front hinge seat (505) and a rear hinge seat (504), wherein two front hinge seats (505) are provided on both sides of the front end of the floating frame, and a rear hinge seat (504) is provided at the rear end of the floating frame; the two front hinge seats (505) are respectively hinged to the two front floating cylinders (3), and the rear hinge seat (504) is hinged to the rear floating cylinder (4); The front end of the floating frame is an open structure and is provided with a latch (501) for connecting with the industrial robot; The phase-type robot motor assembly method includes the following steps: Fixing the industrial robot including the speed reducer (10) to the ground; The walking frame is close to the industrial robot and contains the industrial robot in the opening at the front end of the lower frame (1); Connecting the floating platform (5) to the large arm (9) of the industrial robot; a brake on the brake roller (2); Manually aligning the axis of the input gear (601) of the servo motor assembly (6) with the center line of the speed reducer (10); The manual foot pedal touches the foot switch, triggering the front floating cylinder (3) and the rear floating cylinder (4) to move, driving the floating platform (5) to change its posture, and changing the phase of the three spur gears (1001) of the reducer (10) through the large arm (9), so that the input gear (601) of the servo motor assembly (6) is engaged with the three spur gears (1001) of the reducer (10); Manually push the servo motor assembly (6) forward so that the motor stop (602) and the reducer stop (1002) are mated; Manually continue to push the servo motor assembly (6) forward, so that the motor sealing surface (603) and the deceleration confidential cover (1003) form a match; Fix the motor and reducer with screws.

2. The phase type robot motor assembly method according to claim 1, characterized in that: One end of the large arm (9) is connected to the output end of the reducer (10), and the other end of the large arm (9) is rotatably connected to the floating platform (5) via a latch (501); When the floating platform (5) changes its posture, the large arm (9) drives the output end of the reducer (10) in reverse, so that the three spur gears (1001) of the reducer (10) are matched with the input gear (601) of the servo motor assembly (6), and the input gear (601) is manually inserted between the three spur gears (1001) and meshed with each other.

3. The phase type robot motor assembly method according to claim 1, characterized in that: The axis of the hinge hole of the front hinge seat (505) is parallel to the traveling direction of the traveling frame; the axis of the hinge hole of the rear hinge seat (504) is perpendicular to the traveling direction of the traveling frame.

4. The phase type robot motor assembly method according to claim 1, characterized in that: The walking frame comprises a lower frame (1) and walking wheels arranged at the bottom of the lower frame (1), wherein the front end of the lower frame (1) is an open structure.

5. The phase type robot motor assembly method according to claim 4, characterized in that: The front floating cylinder (3) includes a floating shaft (301), a floating cylinder body (302), a floating cylinder rod (303) and a floating joint (304), wherein the floating cylinder rod (303) is slidably matched with the floating cylinder body (302), the end of the floating cylinder rod (303) is rotatably connected to the floating joint (304), and the floating joint (304) is hinged to the front hinge seat (505); the floating shaft (301) is vertically connected to the lower frame (1) and is rotatable, and the upper end of the floating shaft (301) is hinged to the tail of the floating cylinder body (302).

6. The phase type robot motor assembly method according to claim 5, characterized in that: The two front floating cylinders (3) are arranged on both sides of the front end of the lower frame (1); A lower hinge seat is provided at the middle position of the rear end of the lower frame (1), the tail of the rear floating cylinder (4) is hinged to the lower hinge seat, and the output end of the rear floating cylinder (4) is hinged to the rear hinge seat (504) of the floating platform (5).

7. The phase type robot motor assembly method according to claim 6, characterized in that: The lower frame (1) is provided with a foot switch, which is used to control the movement of the front floating cylinder (3) and the rear floating cylinder (4).

8. The phase-type robot motor assembly method according to claim 4, characterized in that: The travel wheel comprises two rollers (2) and a universal wheel (11), wherein the universal wheel (11) is arranged at the middle position of the rear end of the lower frame (1) and the installation height is adjustable; the two rollers (2) are respectively arranged on both sides of the front end of the lower frame (1) and are provided with brakes.

Images