Joint module decelerator end side spare part assembly tool and assembly method thereof

Abstract

The application provides a joint module reducer end side spare part assembly tool and an assembly method thereof, and relates to the technical field of robot joint assembly. The joint module reducer end side spare part assembly tool comprises a base and an assembly part above the base. The base is provided with a PCB clamping mechanism, a sealing mechanism and a low-temperature installation mechanism. The PCB clamping mechanism clamps and fixes the PCB through positioning clamping claws. The sealing mechanism seals the gap between the sealing hopper and the PCB through sealing clamping claws. The low-temperature installation mechanism comprises a sealing hopper and a liquid cooling assembly. The sealing hopper is sleeved outside the motor shaft to form a sealed space. The liquid cooling assembly sends liquid nitrogen into the sealing hopper to cool the motor shaft, so that the shaft diameter is reduced, and then the magnetic ring is conveniently sleeved. The application solves the problems of poor positioning accuracy, low efficiency and difficult installation of the magnetic ring in interference fit in the existing manual assembly, and improves the assembly accuracy, consistency and production efficiency.

Description

Technical Field

[0001] This invention relates to the field of robot joint assembly technology, and in particular to an assembly fixture and assembly method for end-side components of a joint module reducer. Background Technology

[0002] The embodied intelligent joint module is the core actuator of the motion system of humanoid robots and high-end industrial robots. It is typically assembled from components such as a harmonic reducer, a frameless torque motor, a dual magnetic ring encoder, a driver, and a housing. Among them, the harmonic reducer, as the core of the joint module's power output, relies on a wave generator and flexible bearings to cause the flexible wheel to produce controllable elastic deformation and mesh with the rigid wheel to transmit motion and power. Because the joint module needs to achieve a large reduction ratio, high torque output, and high control precision within a limited volume, its assembly accuracy directly determines the robot's motion performance and service reliability.

[0003] Currently, the assembly of harmonic reducers and joint modules mainly relies on manual labor. However, in practice, the existing assembly methods heavily depend on manual operation, requiring multiple workers to handle a single joint module. This not only results in high labor costs but also makes the assembly quality highly dependent on the experience and skill of the operators, making it difficult to guarantee the consistency and stability of precision across different batches and by different personnel. Secondly, the existing process lacks a systematic assembly design for the collaborative assembly of multiple components on the reducer side. The positioning and clamping of the PCB board, the assembly of the upper and lower magnetic rings, and the placement of the isolation pads are all independent processes that interfere with each other. For example, after the PCB board is installed, it must be ensured that it cannot move, and a precise gap must be maintained between the magnetic ring and the PCB board to prevent friction damage to the components. The existing manual methods cannot simultaneously meet these mutually restrictive assembly requirements. In addition, an interference fit is required between the motor shaft and the magnetic ring. The existing manual cold shrink press-fit method (installing the wave generator after cooling) has extremely strict requirements on the timing of operation and temperature control. Slight carelessness in operation will lead to jamming or improper assembly, resulting in low assembly efficiency and low yield of the joint module, which makes it difficult to meet the demand for high efficiency and high consistency assembly in the mass production of embodied intelligent robots.

[0004] Therefore, to address the shortcomings of the prior art, this application provides an assembly fixture and assembly method for end-side components of a joint module reducer. This fixture, by incorporating a PCB board clamping mechanism, a sealing mechanism, and a low-temperature installation mechanism, achieves precise positioning and clamping of the PCB board, localized sealing and cooling of the motor shaft, and low-temperature press-fitting of the upper magnetic ring. This effectively solves the technical problems of poor positioning accuracy, low assembly efficiency, and difficulty in installing the magnetic ring with interference fit in existing manual assembly methods. Summary of the Invention

[0005] This application provides an assembly fixture for end-side components of a joint module reducer, solving the technical problems of poor positioning accuracy, low assembly efficiency, and difficulty in installing the magnetic ring with interference fit in existing manual assembly methods. The fixture includes a base, with an assembly mounted on top of the base. Above the base are also a PCB board clamping mechanism, a sealing mechanism, and a cryogenic mounting mechanism. All three mechanisms are used to assemble the assembly. The PCB board clamping mechanism includes two positioning clamping claws for clamping the corresponding PCB board. The cryogenic mounting mechanism includes a sealing hopper and a liquid cooling component. The sealing hopper seals the motor shaft, and the liquid cooling component cools the motor shaft. The sealing hopper and liquid cooling component work together to reduce the outer diameter of the motor shaft, thereby fitting the magnetic ring. The sealing mechanism includes two sealing clamping claws for sealing the gap between the sealing hopper and the PCB board.

[0006] Preferably, the assembly is arranged from bottom to top as follows: a harmonic reducer, a frameless torque motor, a motor end cover, a magnetic ring gasket, a lower magnetic ring mounted on the outside of the harmonic reducer shaft, an isolation pad, a PCB board, an upper magnetic ring mounted on the outside of the frameless torque motor shaft, and an encapsulation end cover connected to the frameless torque motor housing. The isolation pad is used to isolate the magnetic ring from the PCB board. The assembly is arranged in a layered structure from bottom to top, consisting of the harmonic reducer, frameless torque motor, motor end cover, magnetic ring gasket, lower magnetic ring, isolation pad, PCB board, upper magnetic ring, and encapsulation end cover. This achieves systematic coaxial assembly of multiple components, avoids interference between processes, and effectively ensures the assembly accuracy and consistency of the reducer end side.

[0007] Preferably, a horizontal cylinder is fixedly installed on one side of each of the two positioning grippers, and a lifting cylinder is fixedly installed below the fixed end of the horizontal cylinder. A rotary motor is installed below the lifting cylinder, and a fixed seat fixedly connected to the base is fixedly installed on the bottom surface of the rotary motor. The horizontal cylinder drives the positioning grippers to move towards each other, and the position and height are adjusted by the lifting cylinder and the rotary motor, thereby realizing automated and precise clamping and positioning of the PCB board, improving assembly efficiency and reducing human operation errors.

[0008] Preferably, an inclined cylinder is fixedly installed on the outer side of the two sealing clamping claws, and a mounting bracket is fixedly installed below the fixed end of the inclined cylinder. A connecting plate is installed on the bottom surface of the mounting bracket, and a Y-axis cylinder is installed below the connecting plate. A stabilizing seat is installed on the bottom surface of the Y-axis cylinder, and the stabilizing seat is fixedly connected to the base. The inclined cylinder drives the sealing clamping claws and multi-angle adjustment is achieved by the mounting bracket, the connecting plate, and the Y-axis cylinder. This can flexibly seal the gap between the sealing hopper and the PCB board, enhance the sealing reliability, and avoid damage to the PCB board caused by leakage of cooling medium.

[0009] Preferably, a connector is fixedly provided on the outer side of the sealing hopper, and a conveying cylinder is provided on the connector. A second lifting cylinder is fixedly provided on the bottom surface of the fixed end of the conveying cylinder, and a second rotary motor is provided on the bottom surface of the fixed end of the second lifting cylinder. A mounting base is fixedly provided on the bottom surface of the second rotary motor, and the mounting base is fixedly connected to the base. The conveying cylinder, the second lifting cylinder, and the second rotary motor drive the sealing hopper to achieve multi-degree-of-freedom movement and positioning, so that the sealing hopper can be accurately fitted onto the outside of the motor shaft to form a sealed space, thereby improving the accuracy and convenience of the cooling operation.

[0010] Preferably, a stabilizing frame is fixedly provided at the fixed end of the conveying cylinder, and the stabilizing frame is used to support the liquid cooling component. The output end of the liquid cooling component is provided with a connecting pipe, and the end of the connecting pipe away from the liquid cooling component passes through the connector and extends into the sealed hopper. The stabilizing frame at the fixed end of the conveying cylinder supports the liquid cooling component, and the cooling medium is conveyed into the sealed hopper through the connecting pipe, which ensures the stable fixation of the liquid cooling component and the reliable introduction of the cooling medium, and enhances the continuity and uniformity of local cooling of the motor shaft.

[0011] Preferably, a compression cylinder is fixedly installed on the top surface of the fixed end of the conveying cylinder, and the compression cylinder is used to pressurize the liquid cooling component, thereby squeezing the liquid nitrogen inside the liquid cooling component into the inner side of the sealing hopper through the connecting pipe. The compression cylinder pressurizes the liquid cooling component to squeeze the liquid nitrogen into the sealing hopper through the connecting pipe, realizing active control of the cooling medium flow rate, which makes the outer diameter of the motor shaft shrink rapidly and greatly reduces the installation difficulty of the magnetic ring interference fit.

[0012] The PCB board is circular, and at least two horizontal surfaces are provided on the outer side of the circular PCB board. The inner side of the positioning clamping claw is provided with a clamping surface, and the clamping surface corresponds to the horizontal surface. By setting the PCB board as a circular ring and providing at least two horizontal surfaces on its outer side, which correspond to and fit with the clamping surface on the inner side of the positioning clamping claw, the anti-rotation positioning and stable clamping of the PCB board are achieved, avoiding the loss of control of the magnetic ring gap caused by the movement of the PCB board during the assembly process.

[0013] A support frame is fixedly mounted on the base, and a base is fixedly mounted on the support frame. A tray is mounted on the base, and the assembly is placed on the tray. The support frame, base, and tray fixedly mounted on the base provide a stable placement platform for the assembly, ensuring that each assembly mechanism operates collaboratively under a unified benchmark, and further improving the positioning accuracy of the overall assembly.

[0014] An assembly method for a joint module reducer end-side component assembly fixture, comprising the following steps:

[0015] S1. Place the assembly on the tray. The assembly, from bottom to top, consists of a harmonic reducer, a frameless torque motor, a motor end cover, a magnetic ring gasket, a lower magnetic ring, an isolation pad, a PCB board, an upper magnetic ring, and a package end cover.

[0016] S2: Start the rotary motor and lifting cylinder to adjust the two positioning clamping jaws to the position and height corresponding to the PCB board;

[0017] S3: Activate the horizontal cylinder to drive the two positioning clamping claws to move towards each other, so that the clamping surface on the inner side of the positioning clamping claws corresponds to and fits against the horizontal surface on the outer side of the PCB board, and clamps and fixes the PCB board in the predetermined position of the assembly.

[0018] S4: Start the second rotary motor and the second lifting cylinder to move the sealing bucket to the outside of the frameless torque motor shaft and make the sealing bucket fit outside the motor shaft to form a sealing space;

[0019] S5: Start the conveying cylinder to convey the sealing bucket along the motor shaft to the predetermined sealing position;

[0020] S6: Start the extrusion cylinder to pressurize the liquid cooling component, extruding liquid nitrogen inside the liquid cooling component into the sealed hopper through the connecting pipe to cool the motor shaft and reduce the outer diameter of the motor shaft.

[0021] S7: With the outer diameter of the motor shaft reduced, fit the upper magnetic ring onto the outside of the motor shaft;

[0022] S8: After the upper magnetic ring is installed in place, stop the liquid nitrogen supply. After the motor shaft returns to normal temperature, the outer diameter of the ring will return to normal. Then, tighten the upper magnetic ring onto the motor shaft.

[0023] This invention provides an assembly fixture and assembly method for end-side components of a joint module reducer, which, compared with the prior art:

[0024] 1. This invention, through the coordinated operation of a PCB board clamping mechanism, a sealing mechanism, and a low-temperature installation mechanism, sequentially completes the precise positioning and clamping of the PCB board, the sealing of the gap between the sealing hopper and the PCB board, and the interference fit installation of the upper magnetic ring with the motor shaft under low-temperature conditions, thereby solving the technical problems of poor positioning accuracy, low assembly efficiency, and difficulty in installing the magnetic ring with interference fit in the existing manual assembly method.

[0025] 2. This invention, through precise multi-degree-of-freedom adjustment of each cylinder and rotary motor, can adaptively complete the adjustment of height, angle and axial position at different workstations, realizing the orderly connection of the entire process from PCB board clamping, sealing bucket positioning, gap sealing to liquid nitrogen cooling and magnetic ring assembly. It effectively replaces the original manual operation mode with multiple people working together, reduces labor costs and dependence on the experience and proficiency of operators, improves assembly efficiency, and ensures the stability and consistency of assembly accuracy between different batches. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall three-dimensional structure of an embodiment of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the PCB board clamping mechanism according to an embodiment of the present invention;

[0029] Figure 3 This is a three-dimensional structural diagram of the sealing mechanism according to an embodiment of the present invention;

[0030] Figure 4 This is a three-dimensional structural diagram of the low-temperature installation mechanism according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the disassembled structure of the assembly according to an embodiment of the present invention.

[0032] icon:

[0033] 1. Base; 2. PCB board clamping mechanism; 3. Sealing mechanism; 4. Low temperature mounting mechanism; 11. Support frame; 12. Base; 13. Assembly; 14. Tray; 131. Harmonic reducer; 132. Frameless torque motor; 133. Motor end cover; 134. Magnetic ring gasket; 135. Isolation pad; 136. Horizontal plane; 21. Fixed seat; 22. Rotary motor one; 23. Lifting cylinder one; 24. Horizontal cylinder; 25. Positioning clamping claw; 26. Clamping surface; 31. Stabilizing seat; 32. Y-axis cylinder; 33. Connecting plate; 34. Mounting frame; 35. Angled cylinder; 36. Sealing clamping claw; 41. Mounting seat; 42. Rotary motor two; 43. Lifting cylinder two; 44. Conveying cylinder; 45. Connecting piece; 46. Sealing hopper; 47. Extrusion cylinder; 48. Liquid cooling assembly; 49. Stabilizing frame. Detailed Implementation

[0034] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0035] Please refer to Figures 1-5 This invention provides an assembly fixture for end-side components of a joint module reducer, including a base 1. An assembly 13 is disposed on top of the base 1, which is a collection of various end-side components of the joint module reducer to be assembled. A PCB board clamping mechanism 2, a sealing mechanism 3, and a low-temperature mounting mechanism 4 are also disposed on top of the base 1, and the PCB board clamping mechanism 2, the sealing mechanism 3, and the low-temperature mounting mechanism 4 are all used for assembling the assembly 13.

[0036] like Figure 1 As shown, a support frame 11 is fixedly installed on the base 1, a base 12 is fixedly installed on the support frame 11, and a tray 14 is installed on the base 12. The tray 14 is used to support the assembly 13 and position the assembly 13 in a preset assembly position.

[0037] like Figure 5 As shown, assembly 13, from bottom to top, consists of a harmonic reducer 131, a frameless torque motor 132, a motor end cover 133, a magnetic ring gasket 134, a lower magnetic ring mounted on the outside of the harmonic reducer shaft, an isolation pad 135, a PCB board (i.e., printed circuit board), an upper magnetic ring mounted on the outside of the frameless torque motor shaft, and an encapsulation end cover connected to the housing of the frameless torque motor 132. The harmonic reducer 131 serves as the core of the joint module's power output, with a motor shaft (i.e., the frameless torque motor shaft) running through it. The upper end of the motor shaft extends beyond the upper surface of the frameless torque motor 132 to accommodate the upper magnetic ring. The magnetic ring gasket 134 is positioned above the motor end cover 133 to provide a mounting support surface for the lower magnetic ring. The isolation pad 135 is a ring-shaped thin sheet structure made of insulating material, and is disposed between the lower magnetic ring and the PCB board, and between the PCB board and the upper magnetic ring, to isolate the magnetic ring and the PCB board and prevent friction or electrical short circuit between the magnetic ring and the electronic components on the PCB board. The PCB board is ring-shaped and integrates position detection and drive control circuitry. At least two horizontal surfaces 136 are provided on the outer side of the ring-shaped PCB board. These horizontal surfaces 136 serve as force-bearing surfaces for clamping and positioning, facilitating precise clamping by the positioning clamping claws 25.

[0038] like Figure 2As shown, the PCB board clamping mechanism 2 is used to precisely position and clamp the PCB board in the assembly 13 during the assembly process, preventing the PCB board from moving or rotating during the subsequent installation of the magnetic ring and the encapsulation end cap. The PCB board clamping mechanism 2 includes two positioning clamping claws 25, and the positioning clamping claws 25 are used to clamp the corresponding PCB boards. The inner side of the positioning clamping claws 25 is provided with a clamping surface 26, and the clamping surface 26 corresponds to the horizontal surface 136 on the outer side of the PCB board.

[0039] A horizontal cylinder 24 is fixedly installed on one side of each of the two positioning grippers 25. The piston rod end of the horizontal cylinder 24 is fixedly connected to the positioning gripper 25, and is used to drive the two positioning grippers 25 to move. A lifting cylinder 23 is fixedly installed below the fixed end of the horizontal cylinder 24. The lifting cylinder 23 is arranged vertically, and its piston rod is fixedly connected to the cylinder body of the horizontal cylinder 24, and is used to drive the positioning grippers 25 to rise and fall in the vertical direction to adjust the gripping height. A rotary motor 22 is installed below the lifting cylinder 23. The output shaft of the rotary motor 22 is fixedly connected to the cylinder body of the lifting cylinder 23 through a coupling or directly, and is used to drive the lifting cylinder 23 and the positioning grippers 25 to rotate around the vertical axis to adjust the angle and orientation of the positioning grippers 25 in the horizontal plane. A fixed base 21 fixedly connected to the base 1 is fixedly installed on the bottom surface of the rotary motor 22.

[0040] like Figure 3 As shown, the sealing mechanism 3 is used to seal the gap between the sealing hopper 46 and the PCB board when the low-temperature mounting mechanism 4 performs local cooling on the motor shaft. This prevents the cooling medium (liquid nitrogen and its vapors) from leaking from below the sealing hopper 46 to the PCB board and the external environment, thereby ensuring the cooling effect and preventing low-temperature damage to the electronic components on the PCB board from cold air. The sealing mechanism 3 includes two sealing clamping claws 36, which are used to seal the gap between the sealing hopper 46 and the PCB board.

[0041] An inclined cylinder 35 is fixedly mounted on the outer side of the two sealing clamping claws 36. The piston rod of the inclined cylinder 35 extends at a certain angle to the horizontal plane, allowing the sealing clamping claws 36 to be inserted obliquely into the gap between the sealing hopper 46 and the PCB board when extended, achieving a better sealing effect. A mounting bracket 34 is fixedly mounted below the fixed end of the inclined cylinder 35, and a connecting plate 33 is mounted on the bottom surface of the mounting bracket 34. A Y-axis cylinder 32 is mounted below the connecting plate 33. The Y-axis cylinder 32 is horizontally arranged and is used to drive the connecting plate 33 and the entire sealing clamping assembly mounted on it to move, thereby adjusting the position of the sealing clamping claws 36. A stabilizing seat 31 is mounted on the bottom surface of the Y-axis cylinder 32, which is fixedly connected to the base 1. A guide rail slider pair is mounted on the top surface of the stabilizing seat 31 to guide the movement of the Y-axis cylinder 32 and the connecting plate 33.

[0042] like Figure 4 As shown, the cryogenic installation mechanism 4 is used for localized cryogenic cooling of the frameless torque motor shaft, reducing the outer diameter of the motor shaft. This allows the upper magnetic ring to be easily fitted onto the outside of the motor shaft in its reduced state. Once the motor shaft returns to room temperature, the outer diameter returns to its original size, achieving an interference fit and secure installation between the upper magnetic ring and the motor shaft. The cryogenic installation mechanism 4 includes a sealing hopper 46 and a liquid cooling assembly 48. The sealing hopper 46 seals the motor shaft, while the liquid cooling assembly 48 cools the motor shaft. The sealing hopper 46 has a cylindrical structure and is fitted onto the outside of the motor shaft to form a closed cooling space. The sealing hopper 46, in conjunction with the liquid cooling assembly 48, reduces the outer diameter of the motor shaft, thus facilitating the fitting of the magnetic ring.

[0043] A connector 45 is fixedly installed on the outer side of the sealing hopper 46. A conveying cylinder 44 is installed on the connector 45. The piston rod end of the conveying cylinder 44 is fixedly connected to the connector 45. The conveying cylinder 44 is used to drive the sealing hopper 46 to move to the target position. A lifting cylinder 43 is fixedly installed on the bottom surface of the fixed end of the conveying cylinder 44. The lifting cylinder 43 is vertically arranged, and its piston rod is fixedly connected to the cylinder body of the conveying cylinder 44. It is used to drive the conveying cylinder 44 and the sealing hopper 46 to move up and down in the vertical direction. A rotary motor 42 is installed on the bottom surface of the fixed end of the lifting cylinder 43. The output shaft of the rotary motor 42 is fixedly connected to the cylinder body of the lifting cylinder 43. It is used to drive the lifting cylinder 43 and the sealing hopper 46 to rotate around the vertical axis to adjust the angular position of the sealing hopper 46 in the horizontal plane. A mounting base 41 is fixedly installed on the bottom surface of the rotary motor 42, and the mounting base 41 is fixedly connected to the base 1.

[0044] A compression cylinder 47 is fixedly mounted on the top surface of the fixed end of the conveying cylinder 44. The piston rod end of the compression cylinder 47 extends into the interior of the liquid cooling assembly 48. The compression cylinder 47 is used to pressurize the liquid cooling assembly 48, thereby compressing the liquid nitrogen inside the liquid cooling assembly 48 and causing it to enter the interior of the sealed hopper 46 through the connecting pipe. The liquid cooling assembly 48 is a sealed pressure vessel that stores liquid nitrogen inside. A connecting pipe is provided at the output end of the liquid cooling assembly 48. The end of the connecting pipe away from the liquid cooling assembly 48 passes through the connector 45 and extends into the interior of the sealed hopper 46. A stabilizing frame 49 is also fixedly mounted on the fixed end of the conveying cylinder 44 to support the liquid cooling assembly 48.

[0045] The following is combined Figures 1-5 This invention describes in detail the specific assembly method of the assembly fixture for the end-side components of the joint module reducer. The assembly method includes the following steps:

[0046] Step S1: Assembly loading and initial positioning.

[0047] The automatic feeding robot places the pre-assembled assembly 13 (which at this time includes the harmonic reducer 131, frameless torque motor 132, motor end cover 133, magnetic ring gasket 134, lower magnetic ring, and isolation pad 135, but the PCB board, upper magnetic ring, and encapsulation end cover have not yet been finally installed and positioned) onto the tray 14, and then places the tray 14 carrying the assembly 13 onto the base 12.

[0048] Step S2: Adjust the position of the positioning gripper.

[0049] The rotary motor 22 is controlled to rotate at a preset angle, driving the lifting cylinder 23 and the positioning clamping claw 25 to rotate around the vertical axis, so that the clamping surfaces 26 of the two positioning clamping claws 25 are aligned with the positions of the two horizontal surfaces 136 on the outer side of the PCB board. At the same time, the piston rod of the lifting cylinder 23 is controlled to extend and retract, driving the horizontal cylinder 24 and the positioning clamping claw 25 to rise and fall vertically, so that the height of the positioning clamping claw 25 is aligned with the center height of the thickness of the PCB board.

[0050] Step S3: Clamp and fix the PCB board.

[0051] Start the horizontal cylinder 24 to drive the two positioning clamping claws 25 to move towards each other. As the positioning clamping claws 25 move, the clamping surface 26 on the inner side of the positioning clamping claws 25 gradually approaches the horizontal surface 136 on the outer side of the PCB board until the clamping surface 26 and the horizontal surface 136 are in corresponding contact.

[0052] Step S4: The sealing bucket is moved to the outside of the motor shaft.

[0053] The second rotary motor 42 is controlled to rotate at a preset angle, driving the second lifting cylinder 43 and the sealing bucket 46 to rotate around the vertical axis, so that the axis of the sealing bucket 46 is coaxially aligned with the axis of the motor shaft. At the same time, the piston rod of the second lifting cylinder 43 is controlled to extend, lowering the sealing bucket 46 from the initial high position to the end of the motor shaft, so that the lower opening of the sealing bucket 46 is aligned with the upper end of the motor shaft.

[0054] Step S5: The sealing bucket is conveyed to the predetermined sealing position.

[0055] The conveying cylinder 44 is activated, and its piston rod extends, driving the connecting piece 45 and the sealing hopper 46 to move, so that the sealing hopper 46 is positioned at the upper end of the motor shaft. Then, the lifting cylinder 43 is activated, and it moves the sealing hopper 46 to fit onto the outside of the motor shaft.

[0056] Step S6: Seal the gap between the clamping claws.

[0057] After the sealing hopper 46 reaches the predetermined sealing position, the sealing mechanism 3 is activated to seal the gap between the sealing hopper 46 and the PCB board. Specifically, the piston rod of the Y-direction cylinder 32 is extended, driving the connecting plate 33 and the inclined cylinder 35 and sealing clamping claw 36 mounted on it to move along the Y direction, so that the inner end of the sealing clamping claw 36 is aligned with the gap area between the lower end of the sealing hopper 46 and the upper surface of the PCB board. Subsequently, the piston rod of the inclined cylinder 35 is extended obliquely, driving the two sealing clamping claws 36 to move towards each other from both sides, so that the flexible sealing gasket on the inner side of the sealing clamping claw 36 is inserted obliquely into the gap between the outer wall of the sealing hopper 46 and the upper surface of the PCB board, and fits tightly against the gap. The two sealing clamping claws 36 seal simultaneously from opposite directions, completely sealing the annular gap between the bottom of the sealing hopper 46 and the PCB board, thereby forming a second sealing barrier below the sealing hopper 46. At this point, the interior of the sealing hopper 46 is doubly sealed and isolated from the external environment, providing reliable sealing conditions for subsequent liquid nitrogen cooling and effectively preventing cold air from leaking into the PCB board area.

[0058] It should be noted that the sealing action of the sealing clamping claw 36 in step S6 can be performed after step S5 is completed, or it can be performed before or at the same time as the action of the conveying cylinder 44, as long as the seal is established before the cooling begins in step S7. This embodiment does not impose strict limitations on this.

[0059] Step S7: Cool the motor shaft with liquid nitrogen to reduce the shaft diameter.

[0060] The piston rod of the control cylinder 47 continuously pressurizes the liquid nitrogen storage chamber inside the liquid cooling assembly 48 at a predetermined pressure, causing the liquid nitrogen to be transported to the sealed hopper 46 through the connecting pipe under pressure. The liquid nitrogen provides localized and rapid cooling to the motor shaft. Under the cooling effect of the liquid nitrogen, the temperature of the outer ring of the motor shaft rapidly drops to a predetermined low temperature, and the diameter of the outer ring of the motor shaft decreases accordingly by a predetermined amount.

[0061] Step S8: Install the magnetic ring cryogenic suit.

[0062] The automated assembly robot picks up the upper magnetic ring, aligns it with the upper end of the motor shaft, and pushes it downwards along the motor shaft axis. Because the outer diameter of the motor shaft has shrunk at low temperatures, the inner diameter of the upper magnetic ring is now larger than the outer diameter of the motor shaft (or a clearance fit is formed between the two). The upper magnetic ring can easily slide down along the motor shaft to the predetermined installation position. After the upper magnetic ring is installed in place, its position is kept stationary.

[0063] Step S9: Reheat the motor shaft and tighten the magnetic ring.

[0064] After the upper magnetic ring is installed in place, the liquid nitrogen supply is stopped. Then, the oblique cylinder 35 and Y-axis cylinder 32 of the sealing mechanism 3 are reversed, causing the sealing clamping claw 36 to disengage from the gap, releasing the seal on the gap below the sealing hopper 46. Next, the conveying cylinder 44 is reversed, pulling the sealing hopper 46 upwards from the outside of the motor shaft and returning it to its initial high position, exposing the motor shaft to room temperature. As the temperature rises, the outer diameter of the motor shaft returns to its room temperature size. Since the upper magnetic ring has already been fitted into place in the reduced-size state of the motor shaft, when the motor shaft diameter returns to its original position, an interference fit is formed between the inner ring of the upper magnetic ring and the outer ring of the motor shaft. Sufficient clamping force is generated between them, firmly fixing the upper magnetic ring to the motor shaft, completing the interference fit installation of the upper magnetic ring.

[0065] Step S10: Release the PCB board clamp and proceed with subsequent assembly.

[0066] After confirming that the upper magnetic ring is securely installed, the horizontal cylinder 24 is controlled to reverse, driving the two positioning grippers 25 to move in opposite directions, causing the gripping surface 26 to disengage from the horizontal surface 136 of the PCB board, thus releasing the PCB board from its grip. Subsequently, the lifting cylinder 23 and the rotary motor 22 are controlled to return the PCB board gripping mechanism 2 to its initial position, making room for subsequent processes. Finally, the automatic assembly robot installs the package end cap onto the housing of the frameless torque motor 132, completing the assembly of all components on the reducer side of the entire joint module.

[0067] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An assembly fixture for end-side components of a joint module reducer, characterized in that: The system includes a base (1) and an assembly (13) is provided above the base (1). The base (1) is also provided with a PCB board clamping mechanism (2), a sealing mechanism (3), and a low-temperature installation mechanism (4). The PCB board clamping mechanism (2), the sealing mechanism (3), and the low-temperature installation mechanism (4) are all used to assemble the assembly (13). The PCB board clamping mechanism (2) includes two positioning clamping claws (25), which are used to clamp the corresponding PCB board. The low-temperature installation mechanism (4) includes a sealing bucket (46) and a liquid cooling component (48). The sealing bucket (46) is used to seal the motor shaft, and the liquid cooling component (48) is used to cool the motor shaft. The sealing bucket (46) and the liquid cooling component (48) cooperate to reduce the outer diameter of the motor shaft and then fit the magnetic ring. The sealing mechanism (3) includes two sealing clamping claws (36), which are used to seal the gap between the sealing bucket (46) and the PCB board.

2. The assembly fixture for end-side components of the joint module reducer according to claim 2, characterized in that: The assembly (13) is arranged from bottom to top as follows: a harmonic reducer (131), a frameless torque motor (132), a motor end cover (133), a magnetic ring gasket (134), a lower magnetic ring installed on the outside of the shaft of the harmonic reducer, an isolation pad (135), a PCB board, an upper magnetic ring installed on the outside of the shaft of the frameless torque motor, and an encapsulation end cover connected to the housing of the frameless torque motor (132). The isolation pad (135) is used to isolate the magnetic ring from the PCB board.

3. The assembly fixture for end-side components of the joint module reducer according to claim 2, characterized in that: A horizontal cylinder (24) is fixedly installed on one side of the two positioning grippers (25), and a lifting cylinder (23) is fixedly installed below the fixed end of the horizontal cylinder (24). A rotary motor (22) is installed below the lifting cylinder (23), and a fixed seat (21) is fixedly connected to the base (1) on the bottom surface of the rotary motor (22).

4. The assembly fixture for end-side components of the joint module reducer according to claim 2, characterized in that: An inclined cylinder (35) is fixedly provided on the outer side of the two sealing clamping claws (36), and a mounting bracket (34) is fixedly provided below the fixed end of the inclined cylinder (35). A connecting plate (33) is provided on the bottom surface of the mounting bracket (34), and a Y-axis cylinder (32) is provided below the connecting plate (33). A stabilizing seat (31) is provided on the bottom surface of the Y-axis cylinder (32), and the stabilizing seat (31) is fixedly connected to the base (1).

5. The assembly fixture for end-side components of the joint module reducer according to claim 2, characterized in that: A connector (45) is fixedly provided on the outside of the sealing hopper (46), and a conveying cylinder (44) is provided on the connector (45). A lifting cylinder (43) is fixedly provided on the bottom surface of the fixed end of the conveying cylinder (44), and a rotary motor (42) is provided on the bottom surface of the fixed end of the lifting cylinder (43). A mounting base (41) is fixedly provided on the bottom surface of the rotary motor (42), and the mounting base (41) is fixedly connected to the base (1).

6. The assembly fixture for end-side components of the joint module reducer according to claim 5, characterized in that: The fixed end of the conveying cylinder (44) is fixedly provided with a stabilizing frame (49), and the stabilizing frame (49) is used to support the liquid cooling component (48). The output end of the liquid cooling component (48) is provided with a connecting pipe, and the end of the connecting pipe away from the liquid cooling component (48) passes through the connector (45) and extends into the sealed hopper (46).

7. The assembly fixture for end-side components of the joint module reducer according to claim 6, characterized in that: A compression cylinder (47) is fixedly installed on the top surface of the fixed end of the conveying cylinder (44), and the compression cylinder (47) is used to pressurize the liquid cooling assembly (48), thereby squeezing the liquid nitrogen inside the liquid cooling assembly (48) into the inner side of the sealing hopper (46) through the connecting pipe.

8. The assembly fixture for end-side components of the joint module reducer according to claim 2, characterized in that: The PCB board is circular, and at least two horizontal surfaces (136) are provided on the outer side of the circular PCB board. The inner side of the positioning clamping claw (25) is provided with a clamping surface (26), and the clamping surface (26) corresponds to the horizontal surface (136).

9. The assembly fixture for end-side components of the joint module reducer according to claim 1, characterized in that: A support frame (11) is fixedly installed on the base (1), and a base (12) is fixedly installed on the support frame (11). A tray (14) is installed on the base (12), and the assembly (13) is placed on the tray (14).

10. The assembly method of the assembly fixture for end-side components of a joint module reducer according to any one of claims 1-9, characterized in that: The specific steps are as follows: S1. Place the assembly (13) on the tray (14). The assembly (13) consists of, from bottom to top, a harmonic reducer (131), a frameless torque motor (132), a motor end cover (133), a magnetic ring gasket (134), a lower magnetic ring, an isolation pad (135), a PCB board, an upper magnetic ring, and a package end cover. S2: Start the rotary motor (22) and the lifting cylinder (23) to adjust the two positioning clamping claws (25) to the position and height corresponding to the PCB board; S3: Start the horizontal cylinder (24) to drive the two positioning clamping claws (25) to move towards each other, so that the clamping surface (26) on the inner side of the positioning clamping claw (25) corresponds to and fits with the horizontal surface (136) on the outer side of the PCB board, and clamps and fixes the PCB board in the predetermined position of the assembly (13). S4: Start the rotary motor two (42) and the lifting cylinder two (43), move the sealing bucket (46) to the outside of the frameless torque motor shaft, and make the sealing bucket (46) fit on the outside of the motor shaft to form a sealing space; S5: Start the conveying cylinder (44) to convey the sealing bucket (46) axially along the motor shaft to the predetermined sealing position; S6: Start the extrusion cylinder (47) to pressurize the liquid cooling assembly (48), and extrude the liquid nitrogen inside the liquid cooling assembly (48) into the sealed hopper (46) through the connecting pipe to cool the motor shaft and reduce the outer diameter of the motor shaft. S7: With the outer diameter of the motor shaft reduced, fit the upper magnetic ring onto the outside of the motor shaft; S8: After the upper magnetic ring is installed in place, stop the liquid nitrogen supply. After the motor shaft returns to normal temperature, the outer diameter of the ring will return to normal. Then, tighten the upper magnetic ring onto the motor shaft.

Images