Servo motor for industrial robot and assembly equipment for the servo motor

Abstract

The present invention relates to the field of motor manufacturing technology, specifically to a servo motor for an industrial robot and an assembly device for the servo motor; comprising a base and a top base connected to the upper surface of the base through a support column; an electric push rod with a pressure head is provided through the top and bottom of the top base; a step hole is provided through the center of the upper surface of the working disk; a plurality of clamping rings are vertically stacked on the upper surface of the working disk; the clamping ring is surrounded by a plurality of arc-shaped clamping blocks; the clamping blocks in the vertical direction are aligned and arranged; the present invention cooperates with the clamping ring formed by the clamping blocks arranged in multiple layers and the guide surfaces on the clamping blocks, so that the clamping can realize the clamping of the coil seat on the outer wall of the inner core in layers, and at the same time does not affect the downward movement of the core sleeve, so that the core sleeve can be smoothly sleeved on the outer side of the inner core without stopping, so that the assembly efficiency of the servo motor stator is improved.

Description

Technical Field

[0001] The invention relates to the technical field of motor manufacturing, in particular to a servo motor for an industrial robot and an assembly device for the servo motor. Background Art

[0002] Servo motors can provide precise speed, position and torque control, which enables robots to perform complex tasks and ensure the accuracy and repeatability of actions to meet the production needs of high precision and high efficiency. Therefore, servo motors are widely used in industrial robots; the stator is one of the main components of servo motors. The stator of a servo motor includes direct-wound and assembled types. In the direct-wound stator, the winding is directly wound in the tooth slot of the stator core; in the assembled stator, the coil body is first wound on the coil seat, and then the coil seat is installed in the core slot of the outer wall of the inner core of the stator, and finally the core sleeve is put on the outer side of the inner core to protect the coil seat.

[0003] The coil seat is usually installed in the core slot of the inner core manually, while the core sleeve is usually installed on the outer side of the inner core with the assistance of assembly equipment. Specifically, the inner core with the coil seat installed is first placed vertically on the workbench, and the clamping assembly clamps the surrounding coil seats on the outer wall of the inner core so that the coil seats on the outer wall of the inner core are tightened inward. Then the core sleeve is pre-sleeved on the upper position of the outer wall of the inner core, and the pressure head is started to squeeze the core sleeve downward. After the core sleeve is inserted into the outer wall of the inner core and contacts the clamping assembly, the clamping assembly will loosen and move downward and clamp again. The inner iron core and the coil seat are clamped, and the core sleeve is pressed and moved down again to contact the clamping assembly. The clamping assembly is loosened and moved down again and the inner iron core and the coil seat are clamped again. This process is repeated to achieve smooth assembly of the stator. Since the clamping assembly is clamped in a position close to the insertion position before the core sleeve is sleeved on the outside of the inner iron core each time, the coil seat on the outer wall of the inner iron core is tightened more thoroughly toward the inside, thereby making the core sleeve more smoothly sleeved on the outside of the inner iron core. However, the back-and-forth loosening-moving-down-clamping of the clamping assembly will also affect the stator assembly efficiency of the servo motor. Summary of the invention

[0004] In order to make up for the shortcomings of the prior art, the present invention proposes a servo motor for an industrial robot and an assembly device for the servo motor. The present invention cooperates with a clamping ring formed by a multi-layer clamping block and a guide surface on the clamping block, so that the clamping can achieve layered clamping of the coil seat on the outer wall of the inner core without affecting the downward movement of the core sleeve, so that the core sleeve can be smoothly sleeved on the outside of the inner core without stopping, thereby improving the assembly efficiency of the servo motor stator.

[0005] The technical solution adopted by the present invention to solve its technical problems is: the servo motor assembly equipment for industrial robots described in the present invention comprises a base and a top base connected to the upper surface of the base by a support column; an electric push rod with a pressure head is arranged above and below the top base; the lower surface of the pressure head is concave upward, and avoids the upper end of the coil seat during the crimping process and squeezes the core sleeve; the upper surface of the base is fixedly connected to the working disk through a support leg; a step hole is arranged through the center of the upper surface of the working disk; a plurality of clamping rings are vertically stacked on the upper surface of the working disk; the clamping ring is surrounded by a plurality of arc-shaped clamping blocks; the clamping blocks in the vertical direction are aligned and arranged; a slide groove is arranged radially along the clamping ring on the upper surface of the working disk and the clamping block; a slide is slidably connected in the slide groove; the end of the slide away from the center of the clamping ring is connected to the wall of the slide groove by a first spring; the slide at the lower position is connected to the clamping block in contact with the upper position; the clamping block is inclined upward at one end close to the center of the clamping ring.

[0006] Preferably, the slide is composed of a slide seat and a slider; a square disassembly groove is provided on the upper surface of the slide seat; the slider is inserted into the disassembly groove; one end of the first spring is fixedly connected to the slide seat, and the other end is fixedly connected to the groove wall of the slide away from the center of the working disk; the slider is fixedly connected to the clamping block in contact with the upper position.

[0007] Preferably, the vertical groove wall of the disassembly groove is provided with a hemispherical pit; the outer wall of the slider is fixedly connected to a hemispherical protrusion; the protrusion is made of an elastic material, such as rubber; and the protrusion can be inserted into the pit.

[0008] Preferably, a linkage groove is provided at one end of the clamping block; the other end of the clamping block is fixedly connected to a linkage bar; the linkage bar is adapted to the shape of the linkage groove; adjacent clamping blocks in the horizontal direction are slidably connected to the connecting groove through the linkage bar; the clamping blocks in the same horizontal direction can synchronously move away from or approach the clamped object.

[0009] Preferably, the slide groove on the working disk passes downward through the lower surface of the working disk; the lower surface of the slide is fixedly connected to the driving rod; the lower surface of the working disk is rotatably connected to the driving disk; the driving disk is evenly provided with driving grooves around the center; the driving groove is arc-shaped, with one end close to the center of the driving disk and the other end away from the center of the driving disk; the driving rod is inserted into the corresponding driving groove at the lower end; the central axis of the driving disk coincides with the central axis of the working disk; the outer wall of the driving disk is fixedly connected to the shift block.

[0010] Preferably, the lower surface of the working disk is coaxially rotatably connected to an annular auxiliary groove; the auxiliary groove is rotatably connected to an auxiliary ring; and the auxiliary ring is coaxially and fixedly connected to the driving disk.

[0011] Preferably, the outer diameter of the working disk is larger than the outer diameter of the clamping ring; an avoidance groove is provided on the upper surface of the working disk, close to the outer wall of the clamping ring; a through groove is provided at the bottom of the avoidance groove, close to the clamping ring; the through groove is connected to a baffle by sliding up and down; the baffle is in contact with multiple outer walls of the clamping rings; an oblique bar is provided at the upper end of the baffle, which is inclined away from the center of the working disk; the vertical height of the oblique bar is adapted to the thickness of the clamping ring; the upper end of the oblique bar is flush with the upper surface of the uppermost clamping ring; the lower end of the baffle passes through the through groove and is connected to an elastic plate; the upper surface of the elastic plate and the lower surface of the working disk are connected by a tension spring.

[0012] Preferably, the elastic plate is provided with an adjustment groove running through the upper and lower parts; the adjustment groove corresponds to the position of the lower end of the baffle bar; the lower end of the baffle bar passes through the adjustment groove; the adjustment groove wall is provided with a threaded hole in the direction away from the center of the working disk; the threaded hole is threadedly connected to a bolt.

[0013] Preferably, the sliding groove on the clamping block is slidingly and sealingly connected to the corresponding sliding piece; the upper and lower adjacent clamping blocks are in sealing contact; the sliding groove on the clamping block is provided with an outer air hole penetrating outward from the groove wall away from the center of the clamping ring; the aperture diameter of the outer air hole is set to decrease as it moves away from the center of the clamping ring; the sliding groove on the clamping block is provided with an inner air hole penetrating inward from the groove wall close to the center of the clamping ring; the aperture diameter of the inner air hole is set to decrease as it moves away from the center of the clamping ring.

[0014] A servo motor for an industrial robot uses the above-mentioned servo motor assembly equipment for an industrial robot. The servo motor includes a housing, a stator, a rotor and an encoder; the stator includes an inner iron core, a coil seat and an iron core sleeve; the outer wall of the inner iron core is provided with an iron core groove for the coil seat to be inserted; the coil seat is wound with a coil body; the iron core sleeve is arranged on the outside of the inner iron core to protect the coil seat.

[0015] The beneficial effects of the present invention are as follows:

[0016] 1. The present invention cooperates with the clamping ring formed by the clamping blocks arranged in multiple layers and the guide surface on the clamping blocks, so that the clamping can realize the clamping of the coil seat on the outer wall of the inner core in layers without affecting the downward movement of the core sleeve, so that the core sleeve can be smoothly sleeved on the outer side of the inner core without stopping, thereby improving the assembly efficiency of the servo motor stator.

[0017] 2. The present invention drives the driving disk to rotate by shifting the shifting block to achieve synchronous approach or distance of multiple clamping blocks to the center of the working disk, thereby achieving rapid removal of the stator after assembly and rapid clamping of new stator pre-assembled parts, thereby improving the use effect of the servo motor assembly equipment.

[0018] 3. The present invention arranges the baffle bars and the oblique bars so that the multi-layer clamping blocks expand outwards from top to bottom in sequence, thereby avoiding the core sleeve on the one hand, and ensuring the clamping effect of the stator pre-assembled parts not covered by the core sleeve on the other hand, thereby making the stator assembly smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further described below in conjunction with the accompanying drawings and implementation modes.

[0020] Figure 1 is a stereogram of the present invention;

[0021] Figure 2 yes Figure 1 A stereogram from another angle;

[0022] Figure 3 yes Figure 2 The enlarged view of point A in the middle;

[0023] Figure 4 is a three-dimensional diagram of the working disk and the stacked clamping rings in the present invention;

[0024] Figure 5 It is a three-dimensional diagram of the working disk in the present invention;

[0025] Figure 6 is a three-dimensional diagram of the drive disk of the present invention;

[0026] Figure 7 is a stereogram of a clamping ring in the present invention;

[0027] Figure 8 is a three-dimensional diagram of the clamping block in the present invention;

[0028] Fig. 9 is a cross-sectional view of the clamping ring and the working disc in the present invention;

[0029] Fig.10 yes Fig. 9 The enlarged view of point B in the middle;

[0030] Fig.11 yes Fig. 9 Enlarged view of point C in the middle.

[0031] In the figure: base 1, support column 11, top seat 2, electric push rod 21, pressure head 22, working disk 3, support foot 31, step hole 32, auxiliary groove 33, avoidance groove 34, through groove 35, baffle 36, oblique bar 37, clamping ring 4, clamping block 41, slide groove 42, guide surface 43, linkage groove 44, linkage bar 45, outer air hole 46, inner air hole 47, slide 5, first spring 51, slide seat 52, slider 53, disassembly groove 54, pit 55, protrusion 56, drive rod 57, drive disk 6, drive groove 61, shift block 62, auxiliary ring 63, elastic plate 7, tension spring 71, adjustment groove 72, threaded hole 73, bolt 74. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0033] like Figures 1 to 11 As shown, the present invention includes the following embodiments:

[0034] Embodiment 1: A servo motor assembly device for an industrial robot comprises a base 1 and a top base 2 connected to the upper surface of the base 1 through a support column 11; an electric push rod 21 with a pressure head 22 is provided through the top and bottom of the top base 2; the lower surface of the pressure head 22 is concave upward, and avoids the upper end of the coil seat during the crimping process and squeezes the core sleeve; the upper surface of the base 1 is fixedly connected to the working disk 3 through a support leg 31; a step hole 32 is provided through the center of the upper surface of the working disk 3; a plurality of clamping rings 4 are vertically stacked on the upper surface of the working disk 3; the clamping ring 4 consists of four arc-shaped clamping blocks 41 is enclosed; the clamping blocks 41 in the vertical direction are aligned and arranged; the upper surfaces of the working disk 3 and the clamping blocks 41 are provided with slide grooves 42 radially along the clamping ring 4; the slide 5 is slidably connected in the slide groove 42; the end of the slide 5 away from the center of the clamping ring 4 is connected to the groove wall of the slide groove 42 by a first spring 51; the slide 5 in the lower position is connected to the clamping block 41 in contact with the upper position; the clamping block 41 is provided with a guide surface 43 inclined upward at one end close to the center of the clamping ring 4; the elastic force of the first spring 51 can ensure the clamping of the coil seat, so that the coil seat is tightened toward the inside after being clamped.

[0035] The slide 5 is composed of a slide seat 52 and a slider 53; a square disassembly groove 54 is provided on the upper surface of the slide seat 52; the slider 53 is inserted into the disassembly groove 54; one end of the first spring 51 is fixedly connected to the slide seat 52, and the other end is fixedly connected to the groove wall of the slide groove 42 away from the center of the working disk 3; the slider 53 is fixedly connected to the clamping block 41 in contact with the upper position.

[0036] The vertical groove wall of the disassembly groove 54 is provided with a hemispherical pit 55 ; the outer wall of the sliding block 53 is fixedly connected with a hemispherical protrusion 56 ; the protrusion 56 is made of elastic material, such as rubber; the protrusion 56 can be stuck in the pit 55 .

[0037] The assembler prepares the coil seat, inner core and core sleeve with the coil body wound around it, and then places the coil seat in the core slot on the outer wall of the inner core in turn to form a stator preassembled part. After completing the installation of the coil seat in the core slot, the clamping block 41 is added and installed according to the axial length of the inner core. The lowermost slide 52 is located at the end of the slide slot 42 close to the stator preassembled part under the elastic force of the corresponding first spring 51. The lowermost clamping block 41 will drive the slider 53 to be stuck into the disassembly slot 54 in the lower slide 52. The protrusion 56 on the outer wall of the slider 53 is elastic, so the slider 53 can smoothly enter the corresponding disassembly slot 54. The protrusion 56 on the outer wall of the slider 53 corresponds to the pit 55 in the disassembly slot 54, so that the slider 53 Engagement with the corresponding slide seat 52; for the convenience of description, the stacked clamping rings 4 or clamping blocks 41 are respectively the first layer, the second layer, the third layer, etc. from bottom to top, and the stacked clamping rings 4 or clamping blocks 41 are respectively the first layer, the second layer, the third layer, etc. from top to bottom. After the bottom clamping block 41 completes the connection with the working disk 3, the bottom multiple clamping blocks 41 are enclosed to form the entire clamping ring 4, and then the second layer of the clamping ring 4 from bottom to top is installed. Similarly, the slider 53 connected to the upper clamping block 41 is also inserted into the disassembly groove 54 of the corresponding slide seat 52 below, so as to realize the connection between the second layer of the clamping ring 4 from bottom to top and the first layer of the clamping ring 4, and so on, to complete the installation of multiple layers of clamping rings 4;

[0038] The height of the stacked clamping rings 4 in the vertical direction does not exceed the upper end of the inner iron core. Before the stator preassembled component is placed in the step hole 32, the clamping blocks 41 in the clamping ring 4 of the first positive layer are pushed in the direction away from the center of the working disk 3. In the process of the clamping blocks 41 of the first positive layer moving away from the center of the working disk 3, the clamping blocks 41 of the second positive layer will be driven away from the center of the working disk 3. Similarly, the clamping blocks 41 of the second positive layer will drive the clamping blocks 41 of the third positive layer, so that all the clamping blocks 41 are away from the center of the working disk 3, so that the step hole 32 in the center of the upper surface of the working disk 3 is exposed, and the stator preassembled component is placed vertically on the working disk The step hole 32 at the center of the upper surface of the working disk 3 has a shallow depth, and can only accommodate the coil seat at the lower end. Then, the first layer of clamping blocks 41 is released, and the first spring 51 in the slide groove 42 on the working disk 3 pushes the corresponding slide 52 to move toward the center of the working disk 3. The slide 52 drives the corresponding slider 53 and the clamping blocks 41 of the first layer to move toward the center of the working disk 3. The clamping blocks 41 of the first layer drive the clamping blocks 41 above to approach the center of the working disk 3, so that each layer of clamping blocks 41 is pressed against the outer wall of the stator preassembled part, thereby clamping the coil seat in the stator preassembled part.

[0039] When the coil seat is clamped, it will tighten inwards, reducing the volume of the outer wall of the stator pre-assembled component, making the core sleeve easier to assemble. Then, the assembler places the core sleeve vertically and pre-sleeves the lower end of the core sleeve on the upper end of the stator pre-assembled component. The inner diameter of the core sleeve is adapted to the outer specifications of the stator pre-assembled component. Then, the electric push rod 21 is controlled to work, and the electric push rod 21 extends and drives the pressure head 22 to move downward. The pressure head 22 is an inverted cylindrical object. 2 is adapted to the inner diameter of the core sleeve, the pressure head 22 will push the core sleeve downward, and since the coil seat on the outer wall of the inner core is tightened inward under the clamping of multiple clamping blocks 41, the outer wall of the stator preassembled part shrinks inward, thereby facilitating the assembly of the core sleeve and reducing the friction damage between the core sleeve and the coil seat when the core sleeve moves downward. As the core sleeve moves downward, the lower end of the core sleeve will contact the guide surface 43 of the clamping block 41 close to the center end of the clamping ring 4, and the core sleeve will squeeze the guide surface 43;

[0040] During the downward movement of the core sleeve, the guide surface 43 on the penultimate clamping block 41 will be squeezed, so that the penultimate clamping block 41 is pressed to drive the slider 53 and the slide seat 52 on the lower surface to overcome the movement of the first spring 51 in the corresponding slide groove 42, and the penultimate clamping block 41 will move away from the outer wall of the stator preassembled component, so that the core sleeve can move downward smoothly and be sleeved on the outer wall of the stator preassembled component. As the core sleeve continues to move downward, the core sleeve will squeeze the guide surface 43 on the penultimate clamping block 41, and the second clamping block 41 will overcome the corresponding first spring 51 below and move away from the stator preassembled component under the inclined transmission, and the core sleeve can move downward smoothly and be sleeved on the outer wall of the stator preassembled component. As the core sleeve continues to move downward, the clamping blocks 41 originally clamped on the outer wall of the stator preassembled component will loosen automatically and be pressed away from the stator preassembled component in turn. , until the lower end of the core sleeve contacts the upper surface of the working disk 3, the stator assembly process of the servo motor is completed. After the control pressure head 22 moves up, the assembler moves the clamping block 41 of the first positive layer outward to drive the other upper clamping blocks 41 to move outward, then remove the assembled stator from the top of the working disk 3 and replace it with a new stator preassembled part. After loosening the clamping block 41 of the first positive layer, the first spring 51 will drive the corresponding clamping block 41 to move toward the center of the working disk 3, and the stator preassembled part is clamped again. Then the assembler pre-sleeves the core sleeve on the upper end of the stator preassembled part, and controls the pressure head 22 to move down again. This is repeated to realize the continuous assembly of the stator of the servo motor. After the stator assembly of the servo motor is completed, the stator is installed in the housing of the servo motor, and finally the rotor and encoder are assembled;

[0041] The present invention cooperates with the clamping ring 4 formed by the clamping blocks 41 arranged in multiple layers and the guide surface 43 on the clamping blocks 41, so that the clamping can realize the clamping of the coil seat on the outer wall of the inner core in layers without affecting the downward movement of the core sleeve, so that the core sleeve can be smoothly sleeved on the outer side of the inner core without stopping, thereby improving the assembly efficiency of the servo motor stator.

[0042] Embodiment 2: A linkage groove 44 is provided at one end of the clamping block 41; the other end of the clamping block 41 is fixedly connected to a linkage bar 45; the linkage bar 45 is adapted to the shape of the linkage groove 44; adjacent clamping blocks 41 in the horizontal direction are slidably connected to the connecting groove through the linkage bar 45; the clamping blocks 41 in the same horizontal direction can synchronously move away from or approach the clamped object.

[0043] The length direction of the linkage bar 45 and the linkage groove 44 is perpendicular to the end face of the clamping block 41. In the process of one of the clamping blocks 41 moving away from the center of the working disk 3, the clamping block 41 will drive the linkage bar 45 and the linkage groove 44 away from the center of the working disk 3, and the linkage bar 45 is slidably connected to the corresponding linkage groove 44, so that the clamping block 41 will drive the other adjacent clamping blocks 41 to move away from the center of the working disk 3 synchronously. Similarly, in the process of one of the clamping blocks 41 approaching the center of the working disk 3, the clamping block 41 will drive the linkage bar 45 and the linkage groove 44 to move close to the center of the working disk 3, and the linkage bar 45 will slide with the corresponding linkage groove 44 again, so that the clamping block 41 will drive the other adjacent clamping blocks 41 to move close to the center of the working disk 3 synchronously. In this way, the clamping blocks 41 on the same level can synchronously approach or move away from the center of the working disk 3 with the cooperation of the linkage bar 45 and the linkage groove 44, thereby realizing synchronous clamping or loosening of the stator pre-assembled parts, and ensuring the assembly effect of the servo motor stator.

[0044] Embodiment 3: The slide groove 42 on the working disk 3 passes downward through the lower surface of the working disk 3; the lower surface of the slide 5 is fixedly connected to the driving rod 57; the lower surface of the working disk 3 is rotatably connected to the driving disk 6; the driving disk 6 is evenly provided with driving grooves 61 around the center; the driving groove 61 is arc-shaped, with one end close to the center of the driving disk 6 and the other end away from the center of the driving disk 6; the driving rod 57 is inserted into the corresponding driving groove 61 at the lower end; the central axis of the driving disk 6 coincides with the central axis of the working disk 3; the outer wall of the driving disk 6 is fixedly connected to the shift block 62.

[0045] The lower surface of the working disk 3 is coaxially connected to the annular auxiliary groove 33 ; the auxiliary groove 33 is rotatably connected to the auxiliary ring 63 ; the auxiliary ring 63 is coaxially fixedly connected to the driving disk 6 .

[0046] When the assembler moves the dial block 62, the drive disk 6 will be driven to move, and the auxiliary ring 63 will be driven to move during the movement of the drive disk 6. The auxiliary ring 63 will rotate in the auxiliary groove 33 during the movement. In this way, the dial block 62 will be driven to rotate during the movement of the drive disk 6. During the rotation of the drive disk 6, the drive groove 61 will be driven to rotate around the center of the drive disk 6. During the movement of the drive groove 61, the drive rod 57 will move with the lower end of the drive rod 57. The arc-shaped drive groove 61 guides the lower end of the drive rod 57 so that the drive rod 57 is away from the center of the drive disk 6 under the guidance of the drive groove 61. The drive rod 57 will drive the lowermost slide 5 away from the center of the working disk 3, so that the clamping block 41 from bottom to top is driven away from the center of the working disk 3, so that the step hole 32 is exposed, and the clamping and restriction of the stator after assembly are released.

[0047] Then, the stator is smoothly removed from the inner side of the multi-layer clamping ring 4. After the new stator pre-assembled part is inserted into the step hole 32, the shifting block 62 is released, and the first spring 51 in the slide groove 42 on the working disk 3 pushes the slide 5 to approach the center of the working disk 3. The slide 5 drives the corresponding clamping block 41 above to approach the center of the working disk 3. The first layer of clamping blocks 41 drives other clamping blocks 41 to approach the center of the working disk 3, so that the new stator pre-assembled part is clamped by the tightened clamping blocks 41.

[0048] In this embodiment, the driving disk 6 is driven to rotate by turning the dial block 62 to achieve the synchronous approach or distance of multiple clamping blocks 41 to the center of the working disk 3, thereby achieving rapid removal of the stator after assembly and rapid clamping of new stator pre-assembled parts, thereby improving the use effect of the servo motor assembly equipment.

[0049] Embodiment 4: The outer diameter of the working disk 3 is larger than the outer diameter of the clamping ring 4; an avoidance groove 34 is provided on the upper surface of the working disk 3, close to the outer wall of the clamping ring 4; a through groove 35 is provided at the bottom of the avoidance groove 34, close to the clamping ring 4; the through groove 35 is connected to a baffle 36 by sliding up and down; the baffle 36 is in contact with multiple outer walls of the clamping rings 4; the baffle 36 is provided with an inclined bar 37 at the upper end thereof, which is inclined away from the center of the working disk 3; the vertical height of the inclined bar 37 is adapted to the thickness of the clamping ring 4; the upper end of the inclined bar 37 is flush with the upper surface of the uppermost clamping ring 4; the lower end of the baffle 36 passes through the through groove 35 and is connected to the elastic plate 7; the upper surface of the elastic plate 7 and the lower surface of the working disk 3 are connected by a tension spring 71.

[0050] The elastic plate 7 is provided with an adjustment groove 72 running through the upper and lower parts; the adjustment groove 72 corresponds to the position of the lower end of the retaining bar 36; the lower end of the retaining bar 36 passes through the adjustment groove 72; the groove wall of the adjustment groove 72 is provided with a threaded hole 73 facing away from the center of the working disk 3; the threaded hole 73 is internally threaded with a bolt 74.

[0051] Before the stator of the servo motor is assembled by the assembly equipment, the clamping ring 4 will be stacked. After the stacking of the clamping ring 4 layers is completed, the assembler will loosen the bolt 74. After the bolt 74 is screwed, it will rotate in the threaded hole 73 and disengage from the contact with the retaining bar 36, so that the retaining bar 36 is unlocked in the adjustment groove 72, so that the retaining bar 36 can move up and down in the adjustment groove 72. When the tension spring 71 pulls the elastic plate 7 to the closest distance to the working disk 3, the upper end of the inclined bar 37 is at the same height as the upper surface of the uppermost clamping ring 4. Then the bolt 74 is tightened, and the bolt 74 moves in the threaded hole 73 and contacts the retaining bar 36, so that the retaining bar 36 is locked with the adjustment groove 72.

[0052] When the ram 22 moves downward to squeeze the core sleeve, the core sleeve will squeeze the guide surface 43 on the clamping block 41 of the last layer, so that the clamping block 41 on the last layer moves away from the center of the working disk 3. The clamping blocks 41 of the last layer expand outward synchronously under the action of the linkage bar 45 and the linkage groove 44. The outer edge of one of the clamping blocks 41 of the last layer will squeeze the oblique bar 37, and the clamping blocks 41 below the clamping blocks 41 of the last layer will be blocked by the blocking bar 36 and cannot expand outward, so as to ensure that the clamping blocks 41 of other layers are on the stator preassembled parts The clamping effect is achieved. The outer edge of the penultimate clamping block 41 squeezes the bevel bar 37, which causes the bevel bar 37 to move downward. The bevel bar 37 moves downward and drives the stop bar 36 to move downward along the through slot 35. The stop bar 36 moves downward and drives the elastic plate 7 to move downward and pull the tension spring 71. As the penultimate clamping block 41 expands outward, the penultimate clamping block 41 moves above the bevel bar 37. The upper surface of the penultimate clamping block 41 is at the same height as the upper end of the bevel bar 37. As the core sleeve continues to move downward, the core sleeve squeezes the penultimate clamping block 41.

[0053] Similarly, the inclined bars 37 and the stop bars 36 will then move down by the thickness of a clamping block 41, and this process will be repeated until the clamping blocks 41 of all layers expand outwards from top to bottom in turn to avoid the core sleeve, and after the core sleeve finally contacts the upper surface of the working disk 3, the stator assembly is completed, and the inclined bars 37 enter the avoidance grooves 34 to avoid, and finally, after the assembled stator is removed, the stator pre-assembled parts are loaded, and after the clamping blocks 41 of the first positive layer are released, the clamping blocks 41 of each layer are reset under the elastic force of the corresponding first springs 51, so that the stator pre-assembled parts are clamped by the clamping blocks 41 of the multiple layers again, and the tension springs 71 pull the elastic plates 7 upward, and the elastic plates 7 drive the stop bars 36 and the inclined bars 37 to move back to their positions;

[0054] In this embodiment, by providing the blocking bars 36 and the oblique bars 37, the multi-layer clamping blocks 41 are expanded outwards from top to bottom in sequence, thereby avoiding the core sleeve on the one hand, and ensuring the clamping effect of the stator pre-assembled parts not covered by the core sleeve on the other hand, thereby making the stator assembly smoother.

[0055] Embodiment 5: The slide groove 42 on the clamping block 41 is slidably sealed and connected with the corresponding slide 5; the upper and lower adjacent clamping blocks 41 are in sealing contact; the slide groove 42 on the clamping block 41 is provided with an outer air hole 46 penetrating outward from the groove wall away from the center of the clamping ring 4; the aperture diameter of the outer air hole 46 is set to decrease as it moves away from the center of the clamping ring 4; the slide groove 42 on the clamping block 41 is provided with an inner air hole 47 penetrating inward from the groove wall close to the center of the clamping ring 4; the aperture diameter of the inner air hole 47 is set to decrease as it moves away from the center of the clamping ring 4.

[0056] After the core sleeve moves downward to squeeze the guide surface 43 of the clamping block 41 of the first-to-last layer, the clamping block 41 of the first-to-last layer expands outward, and the clamping block 41 of the first-to-last layer will drive the slide 5 connected to the lower surface to slide in the corresponding slide groove 42, and the slide 5 divides the slide groove 42 into a near cavity and a far cavity. The near cavity is arranged closer to the center of the working disk 3 than the far cavity. During the outward expansion movement of the clamping block 41 of the first-to-last layer, the near cavity will become larger and the far cavity will become smaller. The outside air can quickly enter the near cavity along the inner air vent 47 for replenishment, and the gas in the far cavity can be quickly discharged along the outer air vent 46, so that the slide 5 can slide smoothly and quickly in the corresponding slide groove 42. As the core sleeve continues to move downward, the core sleeve will squeeze the guide surface 43 on the clamping block 41 of the second-to-last layer, so that the clamping block 41 of the second-to-last layer will expand outward. Since the speed at which external gas enters the far cavity is lower than the speed at which gas in the far cavity is discharged, and the speed at which gas in the near cavity is discharged is lower than the speed at which gas enters, when the penultimate layer of clamping blocks 41 has no time to retract, the penultimate layer of clamping blocks 41 will drive the penultimate layer of clamping blocks 41 away from the core sleeve during the outward expansion process, and so on, when the penultimate layer of clamping blocks 41 are compressed and expanded outward, the upper layer of clamping blocks 41 will be further expanded, thereby further avoiding the downward movement of the core sleeve, preventing the outer wall of the core sleeve from being clamped by the clamping blocks 41 that have passed over and affecting the downward movement, so that the core sleeve can be more smoothly sleeved on the outer wall of the stator preassembled component, and after the stator is removed after assembly and replaced with the stator preassembled component, the clamping blocks 41 will return to their original positions under the elastic force of the corresponding first spring 51 and clamp the stator preassembled component again.

[0057] Embodiment 6: A servo motor for an industrial robot, which uses the above-mentioned servo motor assembly equipment for an industrial robot, and the servo motor includes a housing, a stator, a rotor and an encoder; the stator includes an inner core, a coil seat and a core sleeve; the outer wall of the inner core is provided with a core slot for the coil seat to be inserted; the coil seat is wound with a coil body; the core sleeve is arranged on the outside of the inner core to protect the coil seat.

[0058] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0059] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A servo motor assembly device for an industrial robot, comprising a base and a top seat connected to the upper surface of the base by a support column; an electric push rod with a pressure head is provided through the top and bottom of the top seat; characterized in that: The upper surface of the base is fixedly connected to the working disk by supporting feet; a step hole is provided through the center of the upper surface of the working disk; a plurality of clamping rings are vertically stacked on the upper surface of the working disk; the clamping ring is surrounded by a plurality of arc-shaped clamping blocks; the clamping blocks in the vertical direction are coaxially arranged; a slide groove is radially arranged along the clamping ring on the upper surface of the working disk and the clamping block; a slide is slidably connected in the slide groove; the end of the slide away from the center of the clamping ring is connected to the wall of the slide groove by a first spring; the slide in the lower position is connected to the clamping block in contact with the upper position; the clamping block is provided with a guide surface inclined upward at one end close to the center of the clamping ring.

2. The servo motor assembly equipment for industrial robots according to claim 1, characterized in that: The slide is composed of a slide seat and a slider; a square disassembly groove is provided on the upper surface of the slide seat; the slider is inserted into the disassembly groove; one end of the first spring is fixedly connected to the slide seat, and the other end is fixedly connected to the groove wall of the slide groove away from the center of the working disk; the slider is fixedly connected to the clamping block in contact with the upper position.

3. The servo motor assembly equipment for industrial robots according to claim 2, characterized in that: The vertical groove wall of the disassembly groove is provided with a hemispherical pit; the outer wall of the sliding block is fixedly connected with a hemispherical protrusion; the protrusion is made of elastic material; and the protrusion can be stuck in the pit.

4. The servo motor assembly equipment for industrial robots according to claim 1, characterized in that: A linkage groove is provided at one end of the clamping block; the other end of the clamping block is fixedly connected to a linkage bar; the linkage bar is adapted to the shape of the linkage groove; adjacent clamping blocks in the horizontal direction are slidably connected to the connecting groove through the linkage bar; the clamping blocks in the same horizontal direction can synchronously move away from or approach the clamped object.

5. The servo motor assembly equipment for industrial robots according to claim 1, characterized in that: The slide groove on the working disk passes downward through the lower surface of the working disk; the lower surface of the slide is fixedly connected to the driving rod; the lower surface of the working disk is rotatably connected to the driving disk; the driving disk is evenly provided with driving grooves around the center; the driving groove is arc-shaped, one end is close to the center of the driving disk, and the other end is far away from the center of the driving disk; the lower end of the driving rod is inserted into the corresponding driving groove; the central axis of the driving disk coincides with the central axis of the working disk; the outer wall of the driving disk is fixedly connected to the shift block.

6. The servo motor assembly equipment for industrial robots according to claim 5, characterized in that: The lower surface of the working disk is connected to the annular auxiliary groove in a coaxial rotation; the auxiliary ring is connected to the auxiliary groove in a coaxial rotation; and the auxiliary ring is fixedly connected to the driving disk in a coaxial manner.

7. The servo motor assembly equipment for industrial robots according to claim 4, characterized in that: The outer diameter of the working disk is larger than the outer diameter of the clamping ring; an avoidance groove is provided on the upper surface of the working disk, close to the outer wall of the clamping ring; a through groove is provided at the bottom of the avoidance groove, close to the clamping ring; the through groove is connected to a baffle for sliding up and down; the baffle is in contact with multiple outer walls of the clamping rings; an oblique bar is provided at the upper end of the baffle, which is inclined away from the center of the working disk; the vertical height of the oblique bar is adapted to the thickness of the clamping ring; the upper end of the oblique bar is flush with the upper surface of the uppermost clamping ring; the lower end of the baffle passes through the through groove and is connected to an elastic plate; the upper surface of the elastic plate and the lower surface of the working disk are connected by a tension spring.

8. The servo motor assembly equipment for industrial robots according to claim 7, characterized in that: The elastic plate is provided with an adjustment groove running through the upper and lower parts; the adjustment groove corresponds to the position of the lower end of the baffle bar; the lower end of the baffle bar passes through the adjustment groove; a threaded hole is provided on the wall of the adjustment groove in a direction away from the center of the working disk; a bolt is connected to the thread in the threaded hole.

9. The servo motor assembly equipment for industrial robots according to claim 7, characterized in that: The sliding groove on the clamping block is slidingly and sealingly connected to the corresponding sliding piece; the upper and lower adjacent clamping blocks are in sealing contact; the groove wall of the sliding groove on the clamping block away from the center of the clamping ring is penetrated outwardly with an outer air hole; the aperture diameter of the outer air hole is set to decrease as it moves away from the center of the clamping ring; the groove wall of the sliding groove on the clamping block close to the center of the clamping ring is penetrated inwardly with an inner air hole; the aperture diameter of the inner air hole is set to decrease as it moves away from the center of the clamping ring.

10. A servo motor for an industrial robot, the servo motor being assembled using the servo motor assembly device for an industrial robot according to any one of claims 1 to 9, characterized in that: The servo motor includes a housing, a stator, a rotor and an encoder; the stator includes an inner iron core, a coil seat and an iron core sleeve; the outer wall of the inner iron core is provided with an iron core groove for the coil seat to be inserted into; the coil body is wound on the coil seat; the iron core sleeve is arranged on the outer side of the inner iron core and protects the coil seat.

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