High-rigidity robot driving assembly and maintenance method

Abstract

The invention belongs to the technical field of industrial robot maintenance, and particularly relates to a high-rigidity robot driving assembly and a maintenance method. The driving assembly comprises a press-fitting motor and a press-fitting motor gear connected with the motor shaft end of the press-fitting motor, meshing teeth are arranged at the front end of the press-fitting motor gear, a matching shaft is arranged at the rear end of the press-fitting motor gear, and a center threaded hole is formed in the center of the press-fitting motor gear. The motor shaft end is provided with a motor shaft end center hole in the axial direction, and the motor shaft end center hole is in interference fit with a matching shaft of a press-fitting motor gear. The outer side of the motor shaft end is provided with a gear press-fitting structure, the gear press-fitting structure is used for being connected with a maintenance tool, and press-fitting or disassembly of a press-fitting motor gear and a motor shaft end center hole is achieved through the maintenance tool. The structure is simple, the appearance size is small, the rigidity is high, and the appearance size, cost and performance indexes of the whole robot and core parts of the industrial robot are effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial robot maintenance, and in particular relates to a high-rigidity robot drive component and a maintenance method. Background Art

[0002] The increasingly fierce competition in the industrial robot market has led to higher requirements for the dimensions, cost and performance indicators of the core components of industrial robots. Therefore, higher requirements are also placed on the research and development, design, production, manufacturing, assembly and maintenance of industrial robots. The core components of industrial robots are motor drive components, reducers and castings. The motor drive components are used to drive the RV reducer. Figures 1 to 4 As shown, the existing motor drive assembly includes a motor 1, a motor gear 2, a connecting screw 3, and a key 4. The motor shaft of the motor 1 is connected to the motor gear 2 through the connecting screw 3 and the key 4. The motor gear 2 includes an end meshing tooth 201, a gear tool groove 202, and a tightening plane 207 located on the outside, and a through hole 203, a back cutter groove 204, an axial hole 205, and a key groove 206 located on the inside. The end meshing tooth 201 is used to mesh with the corresponding reducer gear, and the gear tool groove 202 is a process groove generated when the end meshing tooth 201 is processed by the gear hob 13. The back cutter groove 204 is located at the end of the axial hole 205, and the back cutter groove 204 is used to process the process groove of the key groove 206. The axial hole 205 is used for radial positioning of the motor gear 2 and the motor shaft end. The connecting screw 3 passes through the through hole 203 of the motor gear 2 and is threadedly connected to the motor shaft end to fix the motor gear 2 axially. The tightening plane 207 is used to prevent the locking torque of the connecting screw 3 from damaging the brake of the motor. Since the tooth top circle of the end meshing tooth 201 is smaller than the motor shaft diameter, the gear meshing position is far away from the motor flange end face 101, which reduces the rigidity of the motor drive assembly. In addition, due to the existence of the gear tool groove 202, its overall dimensions are large. Therefore, the overall dimensions, cost and performance indicators of the existing industrial robot structure cannot meet the current high requirements.

[0003] At present, the existing technologies for interference assembly between holes and shafts are heat-fitting, cold-fitting and press-fitting. Since the servo motor is a precision drive component, it cannot be heat-fitted or cold-fitted. When press-fitting is adopted, the servo motor cannot be subjected to the force of press-fitting except the motor shaft end. Therefore, how to realize press-fitting at the motor shaft end to realize the disassembly and assembly of the motor gear is a problem to be solved. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a high-rigidity robot drive assembly and a maintenance method to solve the problems of complex structure, large size and reduced rigidity of existing motor drive assemblies.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] On one hand, the present invention provides a high-rigidity robot drive assembly, comprising a press-fit motor and a press-fit motor gear connected to the motor shaft end of the press-fit motor, wherein the front end of the press-fit motor gear is a meshing tooth, the rear end is a mating shaft, and a center threaded hole is provided at the center of the press-fit motor gear; the motor shaft end is provided with a motor shaft end center hole along the axial direction, and the motor shaft end center hole is interference fit with the mating shaft of the press-fit motor gear;

[0007] A gear press-fitting structure is provided on the outer side of the motor shaft end, and the gear press-fitting structure is used to be connected with a maintenance tool, and the press-fitting motor gear and the center hole of the motor shaft end are pressed or disassembled through the maintenance tool.

[0008] In one possible implementation, the mating shaft of the press-fit motor gear includes an interference tolerance mating shaft and an installation guide clearance mating shaft, wherein the installation guide clearance mating shaft is located at the end of the mating shaft, the diameter of the installation guide clearance mating shaft is smaller than the diameter of the interference tolerance mating shaft, and the interference tolerance mating shaft is interference fit with the center hole of the motor shaft end.

[0009] In one possible implementation, the gear press-fitting structure includes a motor shaft end annular groove and a motor hook tooth located axially outside the motor shaft end annular groove, wherein one opposite side of the motor hook tooth is provided with a cutting edge, and the other opposite side of the motor hook tooth is an arc surface located on the same circumference.

[0010] In a possible implementation, the circumferential diameter of the arc surface of the motor hook tooth is equal to the diameter of the motor shaft end; the cut edge is tangent to the bottom of the annular groove of the motor shaft end;

[0011] The upper end edge of the motor hook tooth is provided with a first sealing chamfer, and the upper and lower side edges of the motor shaft end ring groove are respectively provided with a second sealing chamfer and a third sealing chamfer.

[0012] In a possible implementation, the maintenance tool comprises an axial locking tool, a swivel flange assembly, screws, a pressure plate and an axial limit sleeve, wherein the axial locking tool is axially positioned and connected to the annular groove at the motor shaft end;

[0013] When the press-fitting process is carried out, the pressing plate is arranged above the axial locking tooling, and light holes are arranged on both sides of the pressing plate. Two axial limit sleeves corresponding to the two light holes of the pressing plate are placed between the pressing plate and the axial locking tooling, and two swivel flange assemblies are placed above the two light holes of the pressing plate respectively. The screws pass through the swivel flange assembly, the pressing plate and the axial limit sleeves in sequence and are threadedly connected with the axial locking tooling. The axial locking tooling is moved downward by screwing the screws on both sides, thereby pushing the press-fit motor gear for press-fitting;

[0014] When the disassembly process is carried out, a swivel flange assembly is placed on the axial locking tooling, and the screws are passed through the swivel flange assembly and connected to the center threaded hole of the press-fit motor gear. By screwing the screws, the interference tolerance fitting shaft of the press-fit motor gear is disengaged from the center hole of the motor shaft end.

[0015] In one possible implementation, the swivel flange assembly includes a swivel flange and a thrust bearing, wherein the thrust bearing is placed on the axial locking tooling, the swivel flange is placed on the thrust bearing, and a light hole for the screw to pass through is provided at the bottom of the swivel flange, and when the screw is screwed, the swivel flange rotates together with the screw.

[0016] In one possible implementation, the axial locking tooling is in the shape of a flat plate, and a center hole is provided in the center of the axial locking tooling to allow the motor shaft end to pass through, and two limit blocks are symmetrically provided on the inner wall of the center hole, and the spacing between the two limit blocks is larger than the spacing between the cut edges on both sides of the motor hook tooth, and smaller than the diameter of the circumference of the arc surface of the motor hook tooth; the axial locking tooling is installed in the annular groove at the motor shaft end, and axial limitation is achieved by the cooperation between the limit blocks and the motor hook teeth; threaded holes are symmetrically provided on both sides of the center hole on the axial locking tooling.

[0017] Another aspect of the present invention provides a maintenance method for the high-rigidity robot drive assembly as described above, wherein the press-fit motor gear is press-fitted or disassembled on the motor shaft end of the press-fit motor by a maintenance tool, and an axial locking tool is installed before the press-fitting or disassembly;

[0018] The axial locking fixture is installed in place, including the following steps:

[0019] Step A1: The center hole of the axial locking tool is aligned with the motor shaft end, and at the same time, the two limit blocks of the axial locking tool are aligned with the cut edges of the motor shaft end;

[0020] Step A2: The axial locking tool is dropped along the axial direction of the motor shaft end until the center hole of the axial locking tool and the motor shaft end penetrate each other and the two limit blocks are at the ring groove of the motor shaft end;

[0021] Step A3: The axial locking fixture rotates horizontally around the motor shaft end, and the two limit blocks move from the bottom of the cut edge to the bottom position of the motor hook teeth. At this moment, the axial position of the axial locking fixture and the motor shaft end is locked.

[0022] In a possible implementation, the press-fitting process of the press-fit motor gear on the motor shaft end includes the following steps:

[0023] Step B1: Install the installation guide clearance fit shaft of the press-fit motor gear into the center hole of the motor shaft end of the press-fit motor;

[0024] Step B2: Two axial limit sleeves are respectively placed on the two threaded holes of the axial locking fixture, a pressure plate is placed on the two axial limit sleeves, and two swivel flange assemblies are respectively placed on the two smooth holes of the pressure plate, each swivel flange assembly is provided with a screw;

[0025] Step B3: The screws are passed through the swivel flange assembly, the light hole of the pressure plate, and the limit sleeve in sequence, and then connected to the threaded hole thread pair of the axial locking fixture;

[0026] Step B4: Tighten the two screws at the same time, so that the interference tolerance fitting shaft of the press-fit motor gear forms an interference fit with the center hole of the motor shaft end of the press-fit motor, and ensure that the gap between the gear end face of the press-fit motor gear and the end face of the motor shaft end is within the process range.

[0027] In a possible implementation, the disassembly process of the press-fit motor gear at the motor shaft end includes the following steps:

[0028] Step C1: placing a swivel flange assembly on the axial locking fixture;

[0029] Step C2: Pass the screw through the slewing flange assembly and connect it to the central threaded hole thread pair of the press-fit motor gear;

[0030] Step C3: Tighten the screw to disengage the interference tolerance fitting shaft of the press-fit motor gear from the center hole of the motor shaft end.

[0031] The advantages and beneficial effects of the present invention are as follows: the present invention provides a high-rigidity robot drive assembly, the servo motor and gear shaft assembly have a simple structure, small dimensions, and strong rigidity, which effectively improves the dimensions, cost, and performance indicators of the robot as a whole and the core components of the industrial robot; because no servo press, liquid nitrogen, or heating box is required, the cost is reduced.

[0032] The present invention provides a maintenance method for a high-rigidity robot drive assembly. Since the press-fit motor gear is a wearing part and the gear is often damaged due to misoperation, the damaged gear needs to be removed and replaced with a new one. The present invention can efficiently and quickly complete the replacement of the gear without damaging the press-fit motor, thereby improving work efficiency and reducing costs.

[0033] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or 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.

[0034] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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:

[0036] Figure 1 is an axonometric view of an existing motor drive assembly;

[0037] Figure 2 for Figure 1 A partial enlarged view of the middle part;

[0038] Figure 3 is a cross-sectional view of an existing motor drive assembly;

[0039] Figure 4 This is a schematic diagram of processing of existing motor gears;

[0040] Figure 5 It is an axonometric diagram of a high-rigidity robot drive assembly of the present invention;

[0041] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0042] Figure 7 A partial cross-sectional view of a high-rigidity robot drive assembly of the present invention;

[0043] Figure 8 for Figure 7 A partial enlarged view of point C in the middle;

[0044] Fig. 9 It is a structural schematic diagram of a maintenance tool for a high-rigidity robot drive assembly of the present invention;

[0045] Fig.10 for Fig. 9 A partial enlarged view of point D in the middle;

[0046] Fig.11 It is an axonometric view of the axial locking tool in the present invention;

[0047] Fig.12 A top view of the axial locking tool in the present invention;

[0048] Fig.13 It is a schematic diagram of disassembling the press-fitted motor gear in the present invention.

[0049] In the figure: 1-motor, 101-motor flange end face, 2-motor gear, 201-end meshing tooth, 202-gear tool groove, 203-through hole, 204-retracting groove, 205-shaft hole, 206-keyway, 207-tightening plane, 3-connecting screw, 4-key, 5-press-fit motor, 501-motor mounting end face, 502-motor shaft end, 503-motor shaft end ring groove, 504-motor hook tooth, 505-cut edge, 506-first sealing chamfer, 507-second Sealing chamfer, 508-third sealing chamfer, 509-center hole of motor shaft end, 6-press-fit motor gear, 601-meshing teeth, 602-top tapered hole, 603-center threaded hole, 604-interference tolerance matching shaft, 605-installation guide clearance matching shaft, 7-axial locking tooling, 701-center hole, 702-limit block, 703-threaded hole, 8-thrust bearing, 9-swivel flange, 10-screw, 11-pressure plate, 12-axial limit sleeve, 13-gear hob. DETAILED DESCRIPTION

[0050] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] The preferred embodiments of the present invention are described below in conjunction with 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.

[0052] See also Figures 5 to 13 As shown, an embodiment of the present invention provides a high-rigidity robot drive component, including a press-fit motor 5 and a press-fit motor gear 6 connected to the motor shaft end 502 of the press-fit motor 5, the front end of the press-fit motor gear 6 is a meshing tooth 601, the rear end is a mating shaft, a center threaded hole 603 is provided at the center of the press-fit motor gear 6, and top tapered holes 602 for gear processing technology are provided at both ends of the center threaded hole 603; a motor shaft end center hole 509 is provided axially at the motor shaft end 502, and the motor shaft end center hole 509 is interference fit with the mating shaft of the press-fit motor gear 6; a gear press-fit structure is provided on the outer side of the motor shaft end 502, and the gear press-fit structure is used to connect with a maintenance tool, and the press-fit motor gear 6 and the motor shaft end center hole 509 are pressed or disassembled through the maintenance tool.

[0053] See also Figure 7 and Figure 8As shown, in an embodiment of the present invention, the mating shaft of the press-fit motor gear 6 includes an interference tolerance mating shaft 604 and an installation guide clearance mating shaft 605, wherein the installation guide clearance mating shaft 605 is located at the end of the mating shaft, and the diameter of the installation guide clearance mating shaft 605 is smaller than the diameter of the interference tolerance mating shaft 604. The interference tolerance mating shaft 604 is interference fit with the center hole 509 of the motor shaft end, and the gap between the installation guide clearance mating shaft 605 and the center hole 509 of the motor shaft end is d, and d is preferably 0.05mm. The diameters of the interference tolerance mating shaft 604 and the installation guide clearance mating shaft 605 are close to the root circle of the tooth, which facilitates the overall axial shortening of the gear shaft. After the interference tolerance mating shaft 604 and the installation guide clearance mating shaft 605 are assembled, they are hidden in the motor shaft end 502.

[0054] See also Figure 6 and Figure 7 As shown, in the embodiment of the present invention, the gear press-fit structure includes a motor shaft end annular groove 503 and a motor hook 504 located axially outside the motor shaft end annular groove 503, wherein one opposite side of the motor hook 504 is provided with a cutting edge 505, and the other opposite side of the motor hook 504 is an arc surface located on the same circumference. The axial thickness of the motor hook 504 starts from the motor shaft end annular groove 503 and ends at the end surface of the motor shaft end 502.

[0055] Furthermore, the circumferential diameter of the arc surface of the motor hook tooth 504 is equal to the diameter of the motor shaft end 502; the cutting edge 505 is tangent to the bottom of the motor shaft end annular groove 503; the upper end edge of the motor hook tooth 504 is provided with a first sealing chamfer 506, and the upper and lower side edges of the motor shaft end annular groove 503 are respectively provided with a second sealing chamfer 507 and a third sealing chamfer 508, so as to prevent damage when installing the three-lip rotary seal.

[0056] See also Fig. 9 As shown, in the embodiment of the present invention, the maintenance tool includes an axial locking tool 7, a swivel flange assembly, a screw 10, a pressure plate 11 and an axial limit sleeve 12, wherein the axial locking tool 7 is axially positioned and connected to the annular groove 503 at the motor shaft end.

[0057] See also Fig.11 and Fig.12 As shown, in the embodiment of the present invention, the axial locking tool 7 is in the shape of a plate, and a center hole 701 is provided at the center of the axial locking tool 7 for the motor shaft end 502 to pass through, and two limit blocks 702 are symmetrically provided on the inner wall of the center hole 701, and the spacing between the two limit blocks 702 is larger than the spacing between the cutting edges 505 on both sides of the motor hook tooth 504, and is smaller than the diameter of the circumference of the arc surface of the motor hook tooth 504; the axial locking tool 7 is sleeved in the annular groove 503 at the motor shaft end, and the axial limitation is achieved by the cooperation between the limit blocks 702 and the motor hook tooth 504; threaded holes 703 are symmetrically provided on the axial locking tool 7 on both sides of the center hole 701.

[0058] Specifically, the projection of the limit block 702 on the cross section of the center hole 701 is a crescent shape, the arc part of the crescent has the same diameter as the center hole 701, the straight part of the crescent is the chord of the center hole 701, and the limit block 702 has a certain thickness in the axial direction of the center hole 701.

[0059] See also Fig. 9 and Fig.10 As shown, when the press-fitting process is performed, the pressing plate 11 is arranged above the axial locking fixture 7, and light holes are arranged on both sides of the pressing plate 11. Two axial limit sleeves 12 corresponding to the two light holes of the pressing plate 11 are placed between the pressing plate 11 and the axial locking fixture 7. Two swivel flange assemblies are placed above the two light holes of the pressing plate 11, respectively. The screws 10 pass through the swivel flange assembly, the pressing plate 11 and the axial limit sleeves 12 in sequence and are threadedly connected with the axial locking fixture 7. The axial locking fixture 7 is moved downward by screwing the screws 10 on both sides, thereby pushing the press-fit motor gear 6 for press-fitting, so that the interference tolerance matching shaft 604 is interference-fitted with the center hole 509 of the motor shaft end, and ensuring that the gap L between the gear end face of the press-fit motor gear 6 and the end face of the motor shaft end 502 is within the process range. In this embodiment, the value range of L is between 0.2mm and 0.3mm.

[0060] See also Fig.13 As shown, when the disassembly process is carried out, a swivel flange assembly is placed on the axial locking tool 7, and the screw 10 passes through the swivel flange assembly and is connected to the center threaded hole 603 of the press-fit motor gear 6. By screwing the screw 10, the interference tolerance fitting shaft 604 of the press-fit motor gear 6 is disengaged from the center hole 509 of the motor shaft end.

[0061] In the embodiment of the present invention, the swivel flange assembly includes a swivel flange 9 and a thrust bearing 8, wherein the thrust bearing 8 is placed on the axial locking fixture 7, the swivel flange 9 is placed on the thrust bearing 8, and the bottom of the swivel flange 9 is provided with a light hole for the screw 10 to pass through. When the screw 10 is screwed, the swivel flange 9 rotates together with the screw 10, and the swivel flange 9 and the thrust bearing 8 change the screw 10 from a tension-torsion composite stress state to a pure tension force, thereby avoiding the tension-torsion composite fracture of the screw 10 caused by the rotational friction force.

[0062] The present invention provides a high-rigidity robot drive assembly for driving an RV reducer, wherein the press-fit motor gear 6 is a cantilever configuration, and the gear meshing position thereof is relatively short from the motor mounting end face 501, and the driving rigidity of the robot drive assembly is strong. The press-fit motor 5 is a precision driving component, and therefore cannot be hot-fitted or cold-fitted. Because the precision of the press-fit motor 5 is particularly high, except for the motor shaft end 502, other parts cannot be subjected to the force of press-fitting. Therefore, the present invention only applies force at the motor shaft end 502 through the maintenance tooling to press-fit or disassemble the press-fit motor gear 6, and the work efficiency is high.

[0063] See also Figures 5 to 13 As shown, another embodiment of the present invention provides a maintenance method for the high-rigidity robot drive assembly as described above, wherein the press-fit motor gear 6 is press-fitted or disassembled on the motor shaft end 502 of the press-fit motor 5 by a maintenance tool, and the axial locking tool 7 is installed before the press-fitting or disassembly;

[0064] The axial locking tool 7 is installed in place, including the following steps:

[0065] Step A1: the center hole 701 of the axial locking tool 7 is aligned with the motor shaft end 502 , and at the same time, the two limit blocks 702 of the axial locking tool 7 are aligned with the cut edge 505 of the motor shaft end 502 ;

[0066] Step A2: the axial locking tool 7 is dropped along the axial direction of the motor shaft end 502 to a position where the center hole 701 of the axial locking tool 7 and the motor shaft end 502 penetrate each other and the two limit blocks 702 are at the annular groove 503 of the motor shaft end;

[0067] Step A3: The axial locking tool 7 rotates horizontally around the motor shaft end 502, and the two limit blocks 702 move from the bottom of the cutting edge 505 to the bottom of the motor hook 504. At this moment, the axial position of the axial locking tool 7 and the motor shaft end 502 is locked.

[0068] In the embodiment of the present invention, the press-fitting process of the motor gear 6 on the motor shaft end 502 includes the following steps:

[0069] Step B1: Install the installation guide clearance fitting shaft 605 of the press-fit motor gear 6 into the motor shaft end center hole 509 of the press-fit motor 5, and the posture of the press-fit motor gear 6 is guided except for the axial position;

[0070] Step B2: Two axial limit sleeves 12 are respectively placed on the two threaded holes 703 of the axial locking tool 7, a pressing plate 11 is placed on the two axial limit sleeves 12, and two swivel flange assemblies are respectively placed on the two light holes of the pressing plate 11, each swivel flange assembly has a screw 10;

[0071] Step B3: The screw 10 passes through the rotary flange assembly, the light hole of the pressure plate 11, and the limit sleeve 12 in sequence and is connected with the threaded pair of the threaded hole 703 of the axial locking tool 7;

[0072] Step B4: Tighten the two screws 10 at the same time, so that the interference tolerance fitting shaft 604 of the press-fit motor gear 6 forms an interference fit with the center hole 509 of the motor shaft end of the press-fit motor 5, and through the dimension chain, ensure that the gap between the gear end face of the press-fit motor gear 6 and the end face of the motor shaft end 502 is within the process range.

[0073] In the embodiment of the present invention, the disassembly process of the press-fitted motor gear 6 at the motor shaft end 502 includes the following steps:

[0074] Step C1: placing a swivel flange assembly on the axial locking fixture 7;

[0075] Step C2: Pass the screw 10 through the rotary flange assembly and connect it to the central threaded hole 603 of the press-fit motor gear 6;

[0076] Step C3: Screw the screw 10 to disengage the interference tolerance fitting shaft 604 of the press-fit motor gear 6 from the central hole 509 of the motor shaft end.

[0077] The present invention provides a maintenance method for a high-rigidity robot drive assembly. Since the press-fit motor gear 6 is a wearing part and is often damaged due to misoperation, the damaged gear needs to be removed and replaced with a new one. The present invention can efficiently and quickly complete the gear replacement without damaging the press-fit motor 5, thereby improving work efficiency and reducing costs.

[0078] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A high-rigidity robot drive assembly, comprising a press-fit motor (5) and a press-fit motor gear (6) connected to a motor shaft end (502) of the press-fit motor (5), characterized in that: The front end of the press-fit motor gear (6) is a meshing tooth (601), the rear end is a matching shaft, and a center threaded hole (603) is provided at the center of the press-fit motor gear (6); the motor shaft end (502) is provided with a motor shaft end center hole (509) along the axial direction, and the motor shaft end center hole (509) is interference fit with the matching shaft of the press-fit motor gear (6); The outer side of the motor shaft end (502) is provided with a gear pressing structure, which is used to connect with a maintenance tool, and the maintenance tool is used to realize the pressing or disassembly of the press-fit motor gear (6) and the central hole (509) of the motor shaft end.

2. The high-rigidity robot drive assembly according to claim 1, characterized in that: The mating shaft of the press-fit motor gear (6) comprises an interference tolerance mating shaft (604) and an installation guide clearance mating shaft (605), wherein the installation guide clearance mating shaft (605) is located at the end of the mating shaft, the diameter of the installation guide clearance mating shaft (605) is smaller than the diameter of the interference tolerance mating shaft (604), and the interference tolerance mating shaft (604) is interference-fitted with the center hole (509) of the motor shaft end.

3. The high-rigidity robot drive assembly according to claim 2, characterized in that: The gear press-fitting structure comprises a motor shaft end annular groove (503) and a motor hook tooth (504) located axially outside the motor shaft end annular groove (503), wherein one opposite side of the motor hook tooth (504) is provided with a cutting edge (505), and the other opposite side of the motor hook tooth (504) is an arc surface located on the same circumference.

4. The high-rigidity robot drive assembly according to claim 3, characterized in that: The diameter of the circle where the arc surface of the motor hook tooth (504) is located is equal to the diameter of the motor shaft end (502); the cutting edge (505) is tangent to the bottom of the annular groove (503) of the motor shaft end; The upper end edge of the motor hook tooth (504) is provided with a first sealing chamfer (506), and the upper and lower side edges of the motor shaft end ring groove (503) are respectively provided with a second sealing chamfer (507) and a third sealing chamfer (508).

5. The high-rigidity robot drive assembly according to claim 3, characterized in that: The maintenance tool comprises an axial locking tool (7), a swivel flange assembly, a screw (10), a pressure plate (11) and an axial limiting sleeve (12), wherein the axial locking tool (7) is axially positioned and connected to the annular groove (503) at the motor shaft end; When the press-fitting process is carried out, the pressing plate (11) is arranged above the axial locking tool (7), and light holes are arranged on both sides of the pressing plate (11). Two axial limit sleeves (12) corresponding to the two light holes of the pressing plate (11) are placed between the pressing plate (11) and the axial locking tool (7), and two rotating flange assemblies are placed above the two light holes of the pressing plate (11). The screws (10) pass through the rotating flange assembly, the pressing plate (11) and the axial limit sleeves (12) in sequence and are threadedly connected with the axial locking tool (7). The axial locking tool (7) is moved downward by screwing the screws (10) on both sides, thereby pushing the press-fit motor gear (6) to be press-fitted; When the disassembly process is carried out, a swivel flange assembly is placed on the axial locking tool (7), and a screw (10) passes through the swivel flange assembly and is connected to the central threaded hole (603) of the press-fit motor gear (6). By screwing the screw (10), the interference tolerance fitting shaft (604) of the press-fit motor gear (6) is disengaged from the central hole (509) of the motor shaft end.

6. The high-rigidity robot drive assembly according to claim 5, characterized in that: The swivel flange assembly comprises a swivel flange (9) and a thrust bearing (8), wherein the thrust bearing (8) is placed on the axial locking fixture (7), the swivel flange (9) is placed on the thrust bearing (8), and a light hole for the screw (10) to pass through is provided at the bottom of the swivel flange (9), and when the screw (10) is screwed, the swivel flange (9) rotates together with the screw (10).

7. The high-rigidity robot drive assembly according to claim 5, characterized in that: The axial locking fixture (7) is in the shape of a plate. A center hole (701) is provided at the center of the axial locking fixture (7) so that the motor shaft end (502) can pass through. Two limit blocks (702) are symmetrically provided on the inner wall of the center hole (701). The spacing between the two limit blocks (702) is greater than the spacing between the cutting edges (505) on both sides of the motor hook tooth (504), and is smaller than the diameter of the circumference of the arc surface of the motor hook tooth (504). The axial locking fixture (7) is sleeved in the annular groove (503) at the motor shaft end, and axial limiting is achieved by the cooperation between the limit blocks (702) and the motor hook tooth (504). The axial locking fixture (7) is symmetrically provided with threaded holes (703) on both sides of the center hole (701).

8. A method for repairing a high-rigidity robot drive assembly as claimed in claim 7, characterized in that: The press-fit motor gear (6) is pressed or disassembled on the motor shaft end (502) of the press-fit motor (5) by using a maintenance tool, and the axial locking tool (7) is installed before the press-fitting or disassembly; The axial locking tool (7) is installed in place, including the following steps: Step A1: the center hole (701) of the axial locking fixture (7) is aligned with the motor shaft end (502), and at the same time, the two limit blocks (702) of the axial locking fixture (7) are aligned with the cut edge (505) of the motor shaft end (502); Step A2: the axial locking tool (7) is dropped along the axial direction of the motor shaft end (502) to a position where the center hole (701) of the axial locking tool (7) and the motor shaft end (502) penetrate each other, and the two limit blocks (702) are at the annular groove (503) of the motor shaft end; Step A3: The axial locking tool (7) rotates horizontally around the motor shaft end (502), and the two limit blocks (702) move from the bottom of the cutting edge (505) to the bottom of the motor hook teeth (504). At this moment, the axial position of the axial locking tool (7) and the motor shaft end (502) is locked.

9. The maintenance method according to claim 8, characterized in that: The press-fitting process of the motor gear (6) on the motor shaft end (502) comprises the following steps: Step B1: Install the installation guide clearance fitting shaft (605) of the press-fit motor gear (6) into the motor shaft end center hole (509) of the press-fit motor (5); Step B2: two axial limit sleeves (12) are respectively placed on the two threaded holes (703) of the axial locking tool (7), a pressure plate (11) is placed on the two axial limit sleeves (12), and two swivel flange assemblies are respectively placed on the two light holes of the pressure plate (11), each swivel flange assembly is provided with a screw (10); Step B3: The screw (10) passes through the rotary flange assembly, the light hole of the pressure plate (11), and the limit sleeve (12) in sequence, and is then connected to the threaded hole (703) of the axial locking fixture (7); Step B4: Tighten the two screws (10) at the same time, so that the interference tolerance fitting shaft (604) of the press-fit motor gear (6) forms an interference fit with the center hole (509) of the motor shaft end of the press-fit motor (5), and ensure that the gap between the gear end face of the press-fit motor gear (6) and the end face of the motor shaft end (502) is within the process range.

10. The maintenance method according to claim 8, characterized in that: The disassembly process of the press-fitted motor gear (6) at the motor shaft end (502) comprises the following steps: Step C1: placing a swivel flange assembly on the axial locking fixture (7); Step C2: Pass the screw (10) through the rotary flange assembly and connect it to the central threaded hole (603) of the press-fit motor gear (6); Step C3: Screw the screw (10) to disengage the interference tolerance fitting shaft (604) of the press-fit motor gear (6) from the central hole (509) at the motor shaft end.

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