High rigidity robot drive assembly and method of repair

Abstract

The application 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-fitted motor and a press-fitted motor gear connected with a motor shaft end of the press-fitted motor. The front end of the press-fitted motor gear is a meshing tooth, and the rear end is a matching shaft. A central threaded hole is arranged at the center of the press-fitted motor gear. The motor shaft end is provided with a motor shaft end central hole in the axial direction. The motor shaft end central hole is in interference fit with the matching shaft of the press-fitted motor gear. The outside 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. The press-fitted motor gear and the motor shaft end central hole are press-fitted or disassembled through the maintenance tool. The application has the advantages of simple structure, small size, high rigidity, and effective improvement of the size, cost and performance index of the robot and core components of the industrial robot.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot maintenance technology, and specifically relates to a high-rigidity robot drive component and its maintenance method. Background Technology

[0002] Increasing competition in the industrial robot market has led to higher demands on the dimensions, cost, and performance of core components. This, in turn, places higher demands on the research, design, production, manufacturing, assembly, and maintenance of industrial robots. The core components of industrial robots include motor drive assemblies, reducers, and castings. The motor drive assemblies are used to drive the RV reducers. See also... 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 via the connecting screw 3 and the key 4. The motor gear 2 includes an end meshing tooth 201, a gear cutter groove 202, and a tightening plane 207 located on the outer side, and a through hole 203, a relief groove 204, a shaft hole 205, and a keyway 206 located on the inner side. The end meshing tooth 201 is used to mesh with the corresponding reducer gear. The gear cutter groove 202 is a process groove generated when the end meshing tooth 201 is machined using a gear hob 13. The relief groove 204 is located at the end of the shaft hole 205 and is used to machine the process groove of the keyway 206. The shaft hole 205 is used for axial and 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 threaded to the motor shaft end to fix the motor gear 2 axially. The tightening plane 207 is used to prevent the tightening torque of the connecting screw 3 from damaging the motor brake. Because the tip circle of the end meshing tooth 201 is smaller than the diameter of the motor shaft, the gear meshing position is far from the motor flange end face 101, resulting in reduced rigidity of the motor drive assembly. Furthermore, the presence of the gear cutter groove 202 results in a large overall size. Therefore, the current overall structure of industrial robots cannot meet the high requirements in terms of size, cost, and performance.

[0003] Currently, the existing technologies for interference fit between holes and shafts include heat fitting, cold fitting, and press fitting. Because servo motors are precision drive components, they cannot be heat-fitted or cold-fitted. When using press fitting, the servo motor, except for the motor shaft end, cannot withstand the pressure. Therefore, how to achieve press fitting at the motor shaft end to facilitate the assembly and disassembly of the motor gears is an urgent problem to be solved. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a high-rigidity robot drive component and maintenance method, thereby solving the problems of complex structure, large size, and reduced rigidity of existing motor drive components.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The present invention provides a high-rigidity robot drive component, including a press-fit motor and a press-fit motor gear connected to the motor shaft end of the press-fit motor. The front end of the press-fit motor gear is a meshing tooth, the rear end is a mating shaft, and the center of the press-fit motor gear is provided with a central threaded hole. The motor shaft end is provided with a motor shaft end central hole along the axial direction, and the motor shaft end central hole is interference-fitted with the mating shaft of the press-fit motor gear.

[0007] The outer side of the motor shaft end is provided with a gear press-fit structure, which is used to connect with maintenance tools to achieve the press-fitting or disassembly of the motor gear and the center hole of the motor shaft end through the maintenance tools.

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

[0009] In one possible implementation, the gear press-fit 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 tangent, and the other opposite side of the motor hook tooth is an arc surface located on the same circumference.

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

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

[0012] In one possible implementation, the maintenance fixture includes an axial locking fixture, a rotary flange assembly, screws, a pressure plate, and an axial limiting sleeve, wherein the axial locking fixture is axially positioned and connected to the motor shaft end annular groove.

[0013] During the press-fitting process, the pressure plate is positioned above the axial locking fixture. The pressure plate has light holes on both sides. Two axial limiting sleeves corresponding to the two light holes of the pressure plate are placed between the pressure plate and the axial locking fixture. Two rotary flange assemblies are placed above the two light holes of the pressure plate. Screws pass through the rotary flange assembly, the pressure plate, and the axial limiting sleeves in sequence and are threaded into the axial locking fixture. By tightening the screws on both sides, the axial locking fixture is moved down, thereby pushing the press-fitting motor gear to perform the press-fitting.

[0014] During the disassembly process, a rotary flange assembly is placed on the axial locking fixture. After the screw passes through the rotary flange assembly, it connects to the central threaded hole of the press-fit motor gear. By tightening the screw, the interference fit shaft of the press-fit motor gear is disengaged from the central hole at the end of the motor shaft.

[0015] In one possible implementation, the slewing flange assembly includes a slewing flange and a thrust bearing, wherein the thrust bearing is placed on the axial locking fixture, the slewing flange is placed on the thrust bearing, and the bottom of the slewing flange has a light hole for the screw to pass through, so that when the screw is tightened, the slewing flange rotates together with the screw.

[0016] In one possible implementation, the axial locking fixture is flat, with a central hole at its center through which the motor shaft end passes. Two limiting blocks are symmetrically arranged on the inner wall of the central hole. The distance between the two limiting blocks is greater than the distance between the two tangent edges of the motor hook teeth and less than the diameter of the circumference of the arc surface of the motor hook teeth. The axial locking fixture is fitted into the annular groove of the motor shaft end, and axial positioning is achieved through the cooperation of the limiting blocks and the motor hook teeth. Threaded holes are symmetrically arranged on both sides of the central hole on the axial locking fixture.

[0017] Another aspect of the present invention provides a maintenance method for a high-rigidity robot drive assembly as described above, wherein the pressing or disassembly of the press-fit motor gear on the motor shaft end of the press-fit motor is completed by using maintenance fixtures, and an axial locking fixture is installed before pressing or disassembling.

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

[0019] Step A1: Align the center hole of the axial locking fixture with the motor shaft end, and at the same time, align the two limiting blocks of the axial locking fixture with the cut edge of the motor shaft end;

[0020] Step A2: The axial locking fixture is lowered along the axial direction of the motor shaft end until the center hole of the axial locking fixture and the motor shaft end are connected, and the two limit blocks reach the annular 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 below the cut edge to below the motor hook tooth. At this moment, the axial locking fixture and the axial position of the motor shaft end are locked.

[0022] In one possible implementation, the pressing process of the press-fitted motor gear at the motor shaft end includes the following steps:

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

[0024] Step B2: Place two axial limiting sleeves on the two threaded holes of the axial locking fixture, place a pressure plate on the two axial limiting sleeves, and place two rotary flange assemblies on the two smooth holes of the pressure plate. Each rotary flange assembly is equipped with a screw.

[0025] Step B3: The screw passes through the smooth hole of the slewing flange assembly, the pressure plate, and the limit sleeve in sequence, and then connects with the threaded pair of the threaded hole of the axial locking fixture.

[0026] Step B4: Tighten the two screws simultaneously to form an interference fit between the press-fit motor gear shaft and the center hole of the press-fit motor shaft, and ensure that the gap between the end face of the press-fit motor gear and the end face of the motor shaft is within the process range.

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

[0028] Step C1: Place the rotary flange assembly on the axial locking fixture;

[0029] Step C2: After passing the screw through the rotary flange assembly, connect it to the threaded pair of the center threaded hole of the press-fit motor gear;

[0030] Step C3: Tighten the screws to disengage the interference fit shaft of the press-fitted motor gear from the center hole at the end of the motor shaft.

[0031] The advantages and beneficial effects of the present invention are as follows: The high-rigidity robot drive component provided by the present invention has a simple structure, small size and high rigidity of servo motor and gear shaft assembly, which effectively improves the size, cost and performance of the robot and the core components of industrial robots; since it does not require a servo press, liquid nitrogen and heating box, the cost is reduced.

[0032] This invention provides a maintenance method for a high-rigidity robot drive component. Since the press-fit motor gear is a consumable part, it is often damaged due to misoperation, requiring the damaged gear to be removed and replaced with a new one. This invention can efficiently and quickly replace the gear without damaging the press-fit motor, thereby improving work efficiency and reducing costs.

[0033] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0034] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0035] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 An isometric view of an existing motor drive assembly;

[0037] Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle;

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

[0039] Figure 4 This is a schematic diagram of the machining process for an existing motor gear;

[0040] Figure 5 This is an isometric view of a high-rigidity robot drive component according to the present invention;

[0041] Figure 6 for Figure 5 Enlarged view of a section at point B in the middle;

[0042] Figure 7 This is a partial cross-sectional view of a high-rigidity robot drive component according to the present invention;

[0043] Figure 8 for Figure 7 Enlarged view of a section at point C;

[0044] Figure 9 This is a structural schematic diagram of a maintenance fixture for a high-rigidity robot drive component according to the present invention;

[0045] Figure 10 for Figure 9 Enlarged view of a section at point D;

[0046] Figure 11 This is an isometric view of the axial locking fixture in this invention;

[0047] Figure 12 This is a top view of the axial locking fixture in this invention;

[0048] Figure 13 This is a schematic diagram of disassembling the press-fitted motor gear in this invention.

[0049] In the diagram: 1-Motor, 101-Motor flange end face, 2-Motor gear, 201-End meshing tooth, 202-Gear cutter groove, 203-Through hole, 204-Undrilled groove, 205-Shaft hole, 206-Keyway, 207-Tightening plane, 3-Connecting screw, 4-Key, 5-Pressure-fitted motor, 501-Motor mounting end face, 502-Motor shaft end, 503-Motor shaft end annular groove, 504-Motor hook tooth, 505-Cut edge, 506-First sealing chamfer, 507-Second sealing chamfer. 508 - Third sealing chamfer; 509 - Center hole at motor shaft end; 6 - Press-fit motor gear; 601 - Meshing gear; 602 - Center tapered hole; 603 - Center threaded hole; 604 - Interference fit shaft; 605 - Installation guide clearance fit shaft; 7 - Axial locking fixture; 701 - Center hole; 702 - Limiting block; 703 - Threaded hole; 8 - Thrust bearing; 9 - Rotary flange; 10 - Screw; 11 - Pressure plate; 12 - Axial limiting sleeve; 13 - Gear hob. Detailed Implementation

[0050] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0052] See Figures 5 to 13 As shown, one embodiment of the present invention provides a high-rigidity robot drive assembly, 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, and the rear end is a mating shaft. The center of the press-fit motor gear 6 is provided with a central threaded hole 603, and both ends of the central threaded hole 603 are provided with tip tapered holes 602 for gear machining. The motor shaft end 502 is provided with a motor shaft end central hole 509 along the axial direction, and the motor shaft end central hole 509 is interference-fitted 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. The gear press-fit structure is used to connect with maintenance fixtures, and the press-fit or disassembly of the press-fit motor gear 6 and the motor shaft end central hole 509 is realized through the maintenance fixtures.

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

[0054] See Figure 6 and Figure 7 As shown, in an embodiment of the present invention, the gear press-fit structure includes a motor shaft end annular groove 503 and a motor hook tooth 504 located axially outside the motor shaft end annular groove 503. The motor hook tooth 504 has tangent edges 505 on one opposite side, and its other opposite sides are arc surfaces located on the same circumference. The axial thickness of the motor hook tooth 504 begins at the motor shaft end annular groove 503 and ends at the end face of the motor shaft end 502.

[0055] Furthermore, the circumference diameter of the arc surface of the motor hook tooth 504 is equal to the diameter of the motor shaft end 502; the tangent edge 505 is tangent to the bottom of the motor shaft end annular groove 503; the upper edge of the motor hook tooth 504 is provided with a first sealing chamfer 506, and the upper and lower 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 Figure 9 As shown, in an embodiment of the present invention, the maintenance fixture includes an axial locking fixture 7, a rotary flange assembly, a screw 10, a pressure plate 11, and an axial limiting sleeve 12, wherein the axial locking fixture 7 is axially positioned and connected to the motor shaft end annular groove 503.

[0057] See Figure 11 and Figure 12 As shown, in an embodiment of the present invention, the axial locking fixture 7 is flat. The center of the axial locking fixture 7 is provided with a central hole 701 through which the motor shaft end 502 can pass. Two limiting blocks 702 are symmetrically provided on the inner wall of the central hole 701. The distance between the two limiting blocks 702 is greater than the distance between the two tangent edges 505 on both sides of the motor hook tooth 504, and less than the diameter of the circumference of the arc surface of the motor hook tooth 504. The axial locking fixture 7 is fitted into the annular groove 503 of the motor shaft end, and axial limiting is achieved through the cooperation of the limiting blocks 702 and the motor hook tooth 504. Threaded holes 703 are symmetrically provided on both sides of the central hole 701 on the axial locking fixture 7.

[0058] Specifically, the projection of the limiting block 702 onto the cross-section of the central hole 701 is crescent-shaped, with the crescent arc portion having the same diameter as the central hole 701, the crescent straight portion being the chord of the central hole 701, and the limiting block 702 having a certain thickness in the axial direction of the central hole 701.

[0059] See Figure 9 and Figure 10 As shown, during the press-fitting process, the pressure plate 11 is positioned above the axial locking fixture 7. The pressure plate 11 has holes on both sides. Two axial limiting sleeves 12, corresponding to the two holes in the pressure plate 11, are placed between the pressure plate 11 and the axial locking fixture 7. Two rotary flange assemblies are placed above the two holes in the pressure plate 11. Screws 10 pass through the rotary flange assembly, the pressure plate 11, and the axial limiting sleeves 12 in sequence and are threaded into the axial locking fixture 7. By tightening the screws 10 on both sides, the axial locking fixture 7 is moved downwards, thereby pushing the press-fitting motor gear 6 to press-fit, ensuring that the interference fit shaft 604 is interference-fitted with the center hole 509 at the motor shaft end, and guaranteeing that the clearance L between the gear end face of the press-fitting motor gear 6 and the end face of the motor shaft end 502 is within the process range. In this embodiment, the value of L ranges from 0.2 mm to 0.3 mm.

[0060] See Figure 13 As shown, during the disassembly process, a rotary flange assembly is placed on the axial locking fixture 7. After the screw 10 passes through the rotary flange assembly, it is connected to the central threaded hole 603 of the press-fit motor gear 6. By tightening the screw 10, the interference fit shaft 604 of the press-fit motor gear 6 is disengaged from the central hole 509 at the end of the motor shaft.

[0061] In an embodiment of the present invention, the rotary flange assembly includes a rotary flange 9 and a thrust bearing 8, wherein the thrust bearing 8 is placed on an axial locking fixture 7, and the rotary flange 9 is placed on the thrust bearing 8. The bottom of the rotary flange 9 is provided with a through hole for the screw 10 to pass through. When the screw 10 is tightened, the rotary flange 9 rotates together with the screw 10. The rotary flange 9 and the thrust bearing 8 change the screw 10 from a state of combined tensile and torsional stress to a state of pure tensile force, thus avoiding the combined tensile and torsional fracture of the screw 10 caused by rotational friction.

[0062] This invention provides a high-rigidity robot drive assembly for driving an RV reducer. The press-fit motor gear 6 has a cantilever configuration, with a short distance between its meshing position and the motor mounting surface 501, resulting in high drive rigidity. The press-fit motor 5 is a precision drive component and therefore cannot be hot-fitted or cold-fitted. Due to the extremely high precision of the press-fit motor 5, except for the motor shaft end 502, other parts cannot be subjected to press-fitting force. Therefore, this invention uses maintenance fixtures to apply force only at the motor shaft end 502 for press-fitting or disassembling the press-fit motor gear 6, resulting in high work efficiency.

[0063] See Figures 5 to 13 As shown, another embodiment of the present invention provides a maintenance method for a high-rigidity robot drive component as described above. The method involves using maintenance fixtures to press or remove the press-fit motor gear 6 from the motor shaft end 502 of the press-fit motor 5. Before pressing or removing the gear, an axial locking fixture 7 is installed.

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

[0065] Step A1: Align the center hole 701 of the axial locking fixture 7 with the motor shaft end 502, and at the same time, align the two limiting blocks 702 of the axial locking fixture 7 with the cut edge 505 of the motor shaft end 502.

[0066] Step A2: The axial locking fixture 7 falls along the axial direction of the motor shaft end 502 until the center hole 701 of the axial locking fixture 7 and the motor shaft end 502 pass through, and the two limiting blocks 702 reach the motor shaft end annular groove 503.

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

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

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

[0070] Step B2: Place two axial limiting sleeves 12 on the two threaded holes 703 of the axial locking fixture 7 respectively, place a pressure plate 11 on the two axial limiting sleeves 12, and place two rotary flange assemblies on the two smooth holes of the pressure plate 11 respectively. Each rotary flange assembly is equipped with a screw 10.

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

[0072] Step B4: Tighten two screws 10 simultaneously. The interference fit shaft 604 of the press-fit motor gear 6 and the center hole 509 of the motor shaft end of the press-fit motor 5 will form an interference fit. And through the dimensional chain, ensure that the gap between the 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 an 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: Place the rotary flange assembly on the axial locking fixture 7;

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

[0076] Step C3: Tighten screw 10 to disengage the interference fit shaft 604 of the press-fit motor gear 6 from the center hole 509 at the end of the motor shaft.

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

[0078] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends 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 the 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), and the rear end is a mating shaft. The center of the press-fit motor gear (6) is provided with a central threaded hole (603). The motor shaft end (502) is provided with a motor shaft end central hole (509) along the axial direction. The motor shaft end central hole (509) is interference-fitted with the mating shaft of the press-fit motor gear (6). The outer side of the motor shaft end (502) is provided with a gear press-fit structure. The gear press-fit structure is used to connect with maintenance tooling. The maintenance tooling is used to press-fit or disassemble the motor gear (6) and the center hole (509) of the motor shaft end. The mating shaft of the press-fitted motor gear (6) includes an interference tolerance mating shaft (604) and a mounting guide clearance mating shaft (605), wherein the mounting guide clearance mating shaft (605) is located at the end of the mating shaft, the diameter of the mounting 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) at the end of the motor shaft; The gear press-fit structure includes a motor shaft end annular groove (503) and a motor hook tooth (504) located on the axial outside of the motor shaft end annular groove (503). The motor hook tooth (504) has a tangent (505) on one opposite side and an arc surface on the other opposite side of the motor hook tooth (504) on the same circumference. The maintenance tooling includes an axial locking tool (7), a rotary flange assembly, screws (10), a pressure plate (11), and an axial limiting sleeve (12), wherein the axial locking tool (7) is axially positioned and connected to the motor shaft end annular groove (503). When performing the press fitting process, the pressure plate (11) is positioned above the axial locking fixture (7). The pressure plate (11) has light holes on both sides. Two axial limiting sleeves (12) corresponding to the two light holes of the pressure plate (11) are provided between the pressure plate (11) and the axial locking fixture (7). Two rotary flange assemblies are respectively provided above the two light holes of the pressure plate (11). The screws (10) pass through the rotary flange assembly, the pressure plate (11) and the axial limiting sleeves (12) in sequence and are threadedly connected to the axial locking fixture (7). By turning the screws (10) on both sides, the axial locking fixture (7) is moved down, thereby pushing the press fitting motor gear (6) to perform press fitting. When the disassembly process is carried out, a rotary flange assembly is set on the axial locking fixture (7). After the screw (10) passes through the rotary flange assembly, it is connected to the central threaded hole (603) of the press-fit motor gear (6). By turning the screw (10), the interference fit shaft (604) of the press-fit motor gear (6) is disengaged from the central hole (509) at the end of the motor shaft.

2. The high-rigidity robot drive assembly according to claim 1, characterized in that, The circumference diameter of the arc surface of the motor hook tooth (504) is equal to the diameter of the motor shaft end (502); the tangent edge (505) is tangent to the bottom of the motor shaft end annular groove (503); The upper edge of the motor hook tooth (504) is provided with a first sealing chamfer (506), and the upper and lower edges of the motor shaft end annular groove (503) are respectively provided with a second sealing chamfer (507) and a third sealing chamfer (508).

3. The high-rigidity robot drive component according to claim 1, characterized in that, The rotary flange assembly includes a rotary flange (9) and a thrust bearing (8), wherein the thrust bearing (8) is disposed on the axial locking fixture (7), the rotary flange (9) is disposed on the thrust bearing (8), and the bottom of the rotary flange (9) is provided with a light hole for the screw (10) to pass through. When the screw (10) is screwed, the rotary flange (9) rotates together with the screw (10).

4. The high-rigidity robot drive assembly according to claim 1, characterized in that, The axial locking fixture (7) is flat. The center of the axial locking fixture (7) is provided with a central hole (701) through which the motor shaft end (502) can pass. Two limiting blocks (702) are symmetrically provided on the inner wall of the central hole (701). The distance between the two limiting blocks (702) is greater than the distance between the two tangent edges (505) on both sides of the motor hook tooth (504) and less than the diameter of the circumference of the arc surface of the motor hook tooth (504). The axial locking fixture (7) is fitted into the motor shaft end annular groove (503) and the axial limiting is achieved by the cooperation of the limiting blocks (702) and the motor hook tooth (504). Threaded holes (703) are symmetrically provided on both sides of the central hole (701) on the axial locking fixture (7).

5. A method for repairing a high-rigidity robot drive assembly as described in claim 4, characterized in that, The press-fitting or disassembling of the press-fitting motor gear (6) on the motor shaft end (502) of the press-fitting motor (5) is completed by the maintenance tool. Before press-fitting or disassembling, the axial locking tool (7) is installed first. The axial locking fixture (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 limiting 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 fixture (7) falls along the axial direction of the motor shaft end (502) until the center hole (701) of the axial locking fixture (7) and the motor shaft end (502) are connected, and the two limit blocks (702) reach the motor shaft end annular groove (503). Step A3: The axial locking fixture (7) rotates horizontally around the motor shaft end (502), and the two limit blocks (702) move from below the cut edge (505) to below the motor hook tooth (504). At this moment, the axial locking fixture (7) and the axial position of the motor shaft end (502) are locked.

6. The maintenance method according to claim 5, characterized in that, The pressing process of the press-fit motor gear (6) on the motor shaft end (502) includes the following steps: Step B1: Install the mounting guide clearance fitting shaft (605) of the press-fit motor gear (6) into the center hole (509) at the end of the motor shaft of the press-fit motor (5); Step B2: Two axial limiting sleeves (12) are respectively set on the two threaded holes (703) of the axial locking fixture (7), and pressure plates (11) are set on the two axial limiting sleeves (12). Two rotary flange assemblies are respectively set on the two smooth holes of the pressure plate (11), and each rotary flange assembly is equipped with a screw (10). Step B3: The screw (10) passes through the light hole of the rotary flange assembly, the pressure plate (11), and the limit sleeve (12) in sequence, and then connects with the threaded pair of the threaded hole (703) of the axial locking fixture (7); Step B4: Tighten two screws (10) at the same time. The interference fit shaft (604) of the press-fit motor gear (6) and the center hole (509) of the motor shaft end of the press-fit motor (5) form an interference fit, and ensure that the gap between the end face of the press-fit motor gear (6) and the end face of the motor shaft end (502) is within the process range.

7. The repair method according to claim 5, characterized in that, The disassembly process of the press-fitted motor gear (6) at the motor shaft end (502) includes the following steps: Step C1: A rotary flange assembly is installed on the axial locking fixture (7); Step C2: After passing the screw (10) through the rotary flange assembly, connect it to the threaded pair of the central threaded hole (603) of the press-fit motor gear (6); Step C3: Tighten the screw (10) to disengage the interference fit shaft (604) of the press-fit motor gear (6) from the center hole (509) at the end of the motor shaft.

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