A posture-type robot motor assembly device and method

Abstract

The present invention relates to the technical field of motor and reducer assembly, and in particular to a posture-type robot motor assembly device and method. The device includes a mobile frame, a front floating cylinder, a rear floating cylinder, and a clamp, wherein the clamp is arranged above the mobile frame, two upper front articulated seats are provided on both sides of the front end of the clamp, and two upper rear articulated seats are provided on both sides of the rear end of the clamp, and the rotation axes of the upper front articulated seats and the upper rear articulated seats have a height difference; the two upper front articulated seats are respectively hinged to the mobile frame through two front floating cylinders, and the two upper rear articulated seats are respectively hinged to the mobile frame through two rear floating cylinders. The present invention realizes docking by floating, and 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.

Description

Technical Field

[0001] The present invention relates to the technical field of motor and reducer assembly, and in particular to a posture-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, failing to meet the need 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 the robot's RV-type reducer require specific phase requirements. The assembly process is essentially blind, and the motor is heavy, making operation difficult and ergonomically demanding, 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 posture-type robot motor assembly device and method to solve the problem of difficulty in docking the gear shaft of the industrial robot's motor and the three spur gears of the robot's RV-type reducer.

[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 posture-type robot motor assembly device, comprising a moving frame, a front floating cylinder, a rear floating cylinder, and a clamp, wherein the clamp is disposed above the moving frame, and two upper front hinged seats are provided on both sides of the front end of the clamp, and two upper rear hinged seats are provided on both sides of the rear end of the clamp, and the rotation axes of the upper front hinged seats and the upper rear hinged seats have a height difference;

[0006] The two upper front articulated seats are respectively articulated to the moving frame through the two front floating cylinders, and the two upper rear articulated seats are respectively articulated to the moving frame through the two rear floating cylinders.

[0007] In one possible implementation, the mobile frame includes a lower frame and running wheels arranged at the bottom of the lower frame; the front end of the lower frame is a U-shaped structure.

[0008] In one possible implementation, the travel wheel includes a universal wheel and two rollers, wherein the two rollers are arranged on both sides of the front end of the lower frame, and the universal wheel is arranged at the rear end of the lower frame, and the installation height of the universal wheel is adjustable.

[0009] In one possible implementation, two lower front hinged seats are respectively provided on the U-shaped structures near the front end on both sides of the lower frame, and two lower rear hinged seats are provided on both sides of the rear end of the lower frame. The rotation axes of the lower front hinged seat and the lower rear hinged seat on the same side are collinear, and the rotation axis is parallel to the walking direction of the mobile frame.

[0010] In one possible implementation, the rotation axes of the upper front articulated seat and the upper rear articulated seat are both parallel to the traveling direction of the mobile frame.

[0011] In one possible implementation, the clamp includes two lateral shells and an adjustment locking mechanism, wherein the two lateral shells are arranged in parallel, and the two lateral shells are connected by an adjustment locking mechanism. The distance between the two lateral shells 506 is adjusted by the adjustment locking mechanism, thereby achieving locking or release of the servo motor assembly.

[0012] In a possible implementation, a rubber contoured half-sleeve is provided on the inner side of the front end of each of the two lateral shells, and a handle is provided on the rear end of each of the two lateral shells.

[0013] In one possible implementation, the adjustment locking mechanism is provided in two groups and arranged in parallel;

[0014] The adjustment locking mechanism includes a handwheel, a rotating sleeve, a screw rod and a nut, wherein the screw rod is vertically arranged between the two lateral shells, and the two ends of the screw rod are respectively connected to the two lateral shells through the rotating sleeve and the nut, and the handwheel is arranged at the end of the screw rod.

[0015] Another embodiment of the present invention provides a motor assembly method using the posture-type robot motor assembly device described above, comprising the following steps:

[0016] Fix the robot including the reducer to the ground;

[0017] Place the servo motor assembly between the two lateral shells of the gripper, adjust the two sets of adjustment and locking mechanisms, and elastically lock the servo motor assembly through the rubber contoured half sets at the front ends of the two lateral shells;

[0018] Use the handle to change the posture of the clamp so that the axis of the input gear of the servo motor assembly is aligned with the center line of the reducer, and insert the input gear between the three reducer spur gears of the reducer so that the input gear and the three reducer spur gears are meshed with each other;

[0019] Push the clamp forward by the handle to mate the motor stop of the servo motor assembly with the reducer stop of the reducer;

[0020] Continue to push the handle forward to mate the motor sealing surface of the servo motor assembly with the reduction gear seal cover of the reducer;

[0021] Turn the handle to align the motor screw mounting holes of the servo motor assembly with the reducer screw mounting holes, and fix the motor and reducer with screws;

[0022] Adjust the two sets of adjustment locking mechanisms to release the elastic locking of the two rubber contoured halves on the servo motor assembly.

[0023] In one possible implementation, the robot includes a robot base, a waist seat and a boom that are connected in rotation in sequence. The robot base is fixed to the ground, the reducer is installed on the waist seat, the output end of the reducer is connected to one end of the boom, and the other end of the boom is fixed by an auxiliary fixture.

[0024] The advantages and beneficial effects of the present invention are:

[0025] 1. The present invention provides a posture-type robot motor assembly device and method, which realizes engagement and docking in a floating state, requires less manual intervention and has a high degree of automation, thereby meeting the requirements of rapid docking between the motor and the reducer.

[0026] 2. The present invention provides a posture-type robot motor assembly device and method, in which the teeth of the input gear shaft mesh with the teeth of the spur gear, the motor stop and the reducer stop match, and the motor mating surface and the reducer mating surface fit together, gradually adapt and match, and the guided installation is more convenient.

[0027] 3. The posture-type robot motor assembly device and method provided by the present invention are simple to operate, meet the needs of rapid docking, and conform to ergonomics.

[0028] 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.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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:

[0031] Figure 1 An isometric view of a posture-type robot motor assembly device according to the present invention;

[0032] Figure 2 This is a rear view of a posture-type robot motor assembly device of the present invention;

[0033] Figure 3 is an isometric view of the clamp of the present invention;

[0034] Figure 4 This is a schematic diagram of the working state of a posture-type robot motor assembly device of the present invention;

[0035] Figure 5 This is a cross-sectional view of the robot motor and reducer during the assembly process of the present invention;

[0036] In the figure: 1 is the lower frame, 101 is the lower front articulated seat, 102 is the lower rear articulated seat, 2 is the roller, 3 is the front floating cylinder, 4 is the rear floating cylinder, 5 is the clamper, 501 is the rubber contoured half sleeve, 502 is the handwheel, 503 is the rotating sleeve, 504 is the screw rod, 505 is the nut, 506 is the lateral shell, 507 is the upper rear articulated seat, 508 is the handle, 509 is the upper 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 big arm, 10 is the reducer, 1001 is the reducer spur gear, 1002 is the reducer stop, 1003 is the reducer confidential cover, and 11 is the universal wheel. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] An embodiment of the present invention provides a posture-type robot motor assembly device that achieves engagement in a floating state, requires less manual intervention in the docking process, has a high degree of automation, and satisfies the requirement for rapid docking of the motor and reducer. Figure 1 、 Figure 2 、 Figure 4 As shown, the posture-type robot motor assembly device includes a moving frame, a front floating cylinder 3, a rear floating cylinder 4 and a clamp 5, wherein the clamp 5 is arranged above the moving frame, two upper front articulated seats 509 are provided on both sides of the front end of the clamp 5, and two upper rear articulated seats 507 are provided on both sides of the rear end of the clamp 5, and there is a height difference between the rotation axes of the upper front articulated seats 509 and the upper rear articulated seats 507; the two upper front articulated seats 509 are respectively hinged to the moving frame through the two front floating cylinders 3, and the two upper rear articulated seats 507 are respectively hinged to the moving frame through the two rear floating cylinders 4.

[0042] See also Figure 1 As shown, in the embodiment of the present invention, the mobile frame includes a lower frame 1 and running wheels disposed at the bottom of the lower frame 1. Preferably, the front end of the lower frame 1 is a U-shaped structure to facilitate the installation and fixation of the robot. The running wheels include a universal wheel 11 and two rollers 2. The two rollers 2 are disposed on both sides of the front end of the lower frame 1, and the universal wheel 11 is disposed at the rear end of the lower frame 1. The installation height of the universal wheel 11 is adjustable.

[0043] In an embodiment of the present invention, two lower front articulated seats 101 are respectively provided on the U-shaped structures near the front end on both sides of the lower frame 1, and two lower rear articulated seats 102 are provided on both sides of the rear end of the lower frame 1. The rotation axes of the lower front articulated seats 101 and the lower rear articulated seats 102 located on the same side are collinear, and the rotation axis is parallel to the walking direction of the mobile frame.

[0044] Furthermore, the rotation axes of the upper front articulated base 509 and the upper rear articulated base 507 are both parallel to the travel direction of the mobile frame. Specifically, the tail of the front floating cylinder 3 is hinged to the lower front articulated base 101, and the lever of the front floating cylinder 3 is hinged to the upper front articulated base 509. The tail of the rear floating cylinder 4 is hinged to the lower rear articulated base 102, and the lever of the rear floating cylinder 4 is hinged to the upper rear articulated base 507. The clamp 5 is floatingly supported by the two front floating cylinders 3 and the two rear floating cylinders 4. The clamp 5 has three degrees of freedom relative to the lower frame 1: vertical movement, left-right movement, and axial rotation.

[0045] See also Figure 3As shown, in this embodiment of the present invention, the clamp 5 includes two lateral shells 506 and an adjustable locking mechanism. The two lateral shells 506 are arranged in parallel and connected by the adjustable locking mechanism. The adjustable locking mechanism adjusts the distance between the two lateral shells 506 to achieve locking or releasing the servo motor assembly 6. The outer surfaces of the two lateral shells 506 are each provided with an upper front hinge seat 509 and an upper rear hinge seat 507. The upper front hinge seat 509 and the upper rear hinge seat 507 are installed at different heights.

[0046] Furthermore, the inner front ends of both lateral shells 506 are provided with rubber contoured half-sleeves 501, which clamp the servo motor assembly 6. The shape of the rubber contoured half-sleeves 501 matches the outer shape of the servo motor assembly 6, preventing damage to the servo motor assembly 6 when in contact with it, thus providing protection. The rear ends of both lateral shells 506 are provided with handles 508, which are used to control the position of the clamp 5.

[0047] Preferably, the adjustment locking mechanism comprises two groups, which are arranged in parallel on the inner side of the rubber contoured half sleeve 501. In an embodiment of the present invention, the adjustment locking mechanism includes a handwheel 502, a rotating sleeve 503, a screw rod 504, and a nut 505. The screw rod 504 is vertically arranged between the two lateral shells 506, and the two ends of the screw rod 504 are respectively connected to the two lateral shells 506 through the rotating sleeve 503 and the nut 505. The handwheel 502 is arranged at the end of the screw rod 504 and is used to adjust the horizontal distance between the two lateral shells 506. By rotating the handwheel 502, the screw rod 504 is driven to rotate. The rotation of the screw rod 504 drives the nut 505 to move along the axis of the screw rod 504. Since the nut 505 is connected to the other lateral shell 506, it drives the other lateral shell 506 to move, thereby adjusting the distance between the two lateral shells 506.

[0048] See also Figure 4 As shown, the present invention provides a posture-type robot motor assembly device, which is suitable for docking the gear shaft of the motor of an industrial robot and the three spur gears of the robot's RV-type reducer. The industrial robot includes a robot base 7, a waist seat 8 and a large arm 9 that are connected in rotation in sequence. The robot base 7 is fixed to the ground, and a reducer 10 is installed on the waist seat 8. The output end of the reducer 10 is connected to one end of the large arm 9, and the other end of the large arm 9 is fixed by an auxiliary fixture.

[0049] Preferably, the lower frame 1 is a planar welded square steel frame with a U-shaped or fork-shaped front end to facilitate insertion into the robot base 7; the rear end is a rectangular frame. A universal wheel 11 and two rollers 2 form a planar kinematic pair between the clamp 5 and the ground, providing the clamp 5 with three horizontal degrees of freedom relative to the ground. The universal wheel 11, located in the middle of the rear end of the lower frame 1, has an adjustable centerline distance from the lower frame 1, allowing the inclination angle of the clamp 5's axis relative to the ground to be adjusted. The height adjustment mechanism for the universal wheel 11 is preferably a self-locking screw.

[0050] In this embodiment, the front floating cylinder 3 and the rear floating cylinder 4 are arranged in front and back relative to the clamp 5. These cylinders are preferably commonly used, mature components such as electric cylinders, pneumatic cylinders, or hydraulic cylinders, providing relative floating between the lower frame 1 and the clamp 5. Due to the height difference between the hinge points of the front and rear floating cylinders 3 and 4 and the clamp 5, the lower frame 1, the front floating cylinder 3, the rear floating cylinder 4, and the clamp 5 form a spatial floating mechanism. This mechanism adjusts the spatial position of the clamp 5 to meet actual usage requirements. The clamp 5 has three degrees of freedom relative to the lower frame 1: vertical movement, left-right movement, and axial rotation. Furthermore, the two lateral shells 506 provide spacing compensation.

[0051] In this embodiment, the two rubber contoured halves 501 are located inside the front ends of the two lateral shells 506, preferably bonded together. The two handles 508 are located outside the rear ends of the two lateral shells 506, preferably welded together. The horizontal distance between the two lateral shells 506 is adjusted by two sets of adjustment and locking mechanisms, which elastically lock the two rubber contoured halves 501 to the servo motor assembly 6.

[0052] The present invention provides a posture-type robot motor assembly device that can solve the problem of difficulty in docking the gear shaft of an industrial robot's motor and the three spur gears of the robot's RV-type reducer. The docking of the gear shaft of an industrial robot's motor and the three spur gears of the robot's RV-type reducer requires meshing installation and assembly with certain phase requirements. Traditional assembly is essentially blind installation, and due to the heavy motor, manual operation is laborious and cumbersome, which can easily induce occupational diseases. The present invention achieves meshing in a floating state, requiring less manual intervention in the docking process and achieving a high degree of automation, thus enabling rapid docking of the motor and reducer.

[0053] Another embodiment of the present invention provides a robot motor assembly method, which is implemented by a posture-type robot motor assembly device provided in the above embodiment. Figure 4 、 Figure 5 As shown, the robot motor assembly method includes the following steps:

[0054] The robot including the reducer 10 is fixed to the ground; the robot includes a robot base 7, a waist seat 8 and a boom 9 which are rotatably connected in sequence, the robot base 7 is fixed to the ground, the waist seat 8 is equipped with the reducer 10, the output end of the reducer 10 is connected to one end of the boom 9, and the other end of the boom 9 is fixed by an auxiliary fixture; the auxiliary fixture is preferably suspended by a crane belt or supported by an auxiliary support rod;

[0055] Place the servo motor assembly 6 between the two lateral shells 506 of the clamp 5, adjust the two sets of adjustment and locking mechanisms, and elastically lock the servo motor assembly 6 through the rubber contoured half-sleeves 501 at the front ends of the two lateral shells 506;

[0056] The gripper 5 is adjusted in position by means of the handle 508 so that the axis of the input gear 601 of the servo motor assembly 6 is aligned with the center line of the reducer 10. The handle 508 is turned to rotate the input gear 601 of the servo motor assembly 6 and insert it between the three reducer spur gears 1001 of the reducer 10, so that the input gear 601 and the three reducer spur gears 1001 are meshed with each other.

[0057] Push the holder 5 forward by using the handle 508 to mate the motor stop 602 of the servo motor assembly 6 with the reducer stop 1002 of the reducer 10;

[0058] Continue to push the handle 508 forward to make the motor sealing surface 603 of the servo motor assembly 6 fit with the reduction confidential cover 1003 of the reducer 10;

[0059] Turn the handle 508 to align the motor screw mounting holes of the servo motor assembly 6 with the reducer screw mounting holes, and fix the motor and reducer with screws;

[0060] Adjust the two sets of adjustment and locking mechanisms to release the elastic locking of the two rubber contoured half sleeves 501 on the servo motor assembly 6;

[0061] The robotic motor assembly device is withdrawn.

[0062] The present invention provides a posture-type robot motor assembly device and method for docking and assembling the gear shaft of an industrial robot's motor with the three spur gears of the robot's RV-type reducer. This device and method utilizes meshing and assembly with specific phase requirements. The assembly process ensures the meshing of the motor's input gear shaft teeth with the spur gear teeth, the mating of the motor's stop and the reducer's stop, and the alignment of the motor's mating surfaces with the reducer's mating surfaces, allowing for gradual adaptation and matching. This facilitates guided installation and the entire docking and assembly process is simple to operate, meeting the requirements for quick docking and ergonomics.

[0063] 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 motor assembly method using a posture-type robot motor assembly device, characterized in that: The posture-type robot motor assembly device comprises a moving frame, a front floating cylinder (3), a rear floating cylinder (4) and a clamp (5), wherein the clamp (5) is arranged above the moving frame, two upper front hinged seats (509) are provided on both sides of the front end of the clamp (5), and two upper rear hinged seats (507) are provided on both sides of the rear end of the clamp (5), and the rotation axes of the upper front hinged seats (509) and the upper rear hinged seats (507) have a height difference; the two upper front hinged seats (509) are respectively hinged to the moving frame through the two front floating cylinders (3), and the two upper rear hinged seats (507) are respectively hinged to the moving frame through the two rear floating cylinders (4); The clamp (5) comprises two lateral shells (506) and an adjustment locking mechanism, wherein the two lateral shells (506) are arranged in parallel, and the two lateral shells (506) are connected by the adjustment locking mechanism. The distance between the two lateral shells (506) is adjusted by the adjustment locking mechanism, thereby achieving locking or releasing of the servo motor assembly (6); The inner sides of the front ends of the two lateral shells (506) are both provided with rubber contoured half sleeves (501), and the rear ends of the two lateral shells (506) are both provided with handles (508); The motor assembly method comprises the following steps: Fixing the robot including the speed reducer (10) on the ground; The servo motor assembly (6) is placed between the two lateral shells (506) of the clamp (5), and the two sets of adjustment and locking mechanisms are adjusted to elastically lock the servo motor assembly (6) through the rubber contoured half-shells (501) at the front ends of the two lateral shells (506); By changing the posture of the clamp (5) through the handle (508), the axis of the input gear (601) of the servo motor assembly (6) is aligned with the center line of the reducer (10), and the input gear (601) is inserted between the three reducer spur gears (1001) of the reducer (10), so that the input gear (601) and the three reducer spur gears (1001) are meshed with each other; Pushing the holder (5) forward by means of the handle (508) causes the motor stop (602) of the servo motor assembly (6) to engage with the reducer stop (1002) of the reducer (10); Continue to push the handle (508) forward to mate the motor sealing surface (603) of the servo motor assembly (6) with the speed reduction confidential cover (1003) of the speed reducer (10); Turn the handle (508) to align the motor screw mounting holes of the servo motor assembly (6) with the reducer screw mounting holes, and fix the motor and reducer with screws; The two sets of adjustment locking mechanisms are adjusted to release the elastic locking of the two rubber contoured half sleeves (501) on the servo motor assembly (6).

2. The motor assembly method according to claim 1, characterized in that: The robot comprises a robot base (7), a waist seat (8) and a large arm (9) which are rotatably connected in sequence, the robot base (7) is fixed to the ground, the reducer (10) is installed on the waist seat (8), the output end of the reducer (10) is connected to one end of the large arm (9), and the other end of the large arm (9) is fixed by an auxiliary fixture.

3. The motor assembly method according to claim 1, characterized in that: The mobile frame comprises a lower frame (1) and running wheels arranged at the bottom of the lower frame (1); the front end of the lower frame (1) is a U-shaped structure.

4. The motor assembly method according to claim 3, characterized in that: The travel wheel comprises a universal wheel (11) and two rollers (2), wherein the two rollers (2) are arranged on both sides of the front end of the lower frame (1), and the universal wheel (11) is arranged at the rear end of the lower frame (1), and the installation height of the universal wheel (11) is adjustable.

5. The motor assembly method according to claim 3, characterized in that: Two lower front hinged seats (101) are respectively provided on the U-shaped structures near the front end on both sides of the lower frame (1), and two lower rear hinged seats (102) are provided on both sides of the rear end of the lower frame (1). The rotation axes of the lower front hinged seats (101) and the lower rear hinged seats (102) located on the same side are collinear, and the rotation axes are parallel to the walking direction of the mobile frame.

6. The motor assembly method according to claim 1, characterized in that: The rotation axes of the upper front hinge seat (509) and the upper rear hinge seat (507) are both parallel to the traveling direction of the mobile frame.

7. The motor assembly method according to claim 1, characterized in that: The adjustment locking mechanism consists of two groups and is arranged in parallel; The adjustment locking mechanism comprises a hand wheel (502), a rotating sleeve (503), a screw rod (504) and a nut (505), wherein the screw rod (504) is vertically arranged between the two lateral shells (506), and the two ends of the screw rod (504) are respectively connected to the two lateral shells (506) through the rotating sleeve (503) and the nut (505), and the hand wheel (502) is arranged at the end of the screw rod (504).

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