A hollow shaft fixing device

Abstract

The utility model relates to the field of robot technology, and in particular to a hollow shaft fixing device, including a core shaft, an expansion sleeve, a sleeve and a driving device, wherein the first end of the core shaft is provided with a flange, the expansion sleeve and the sleeve are sequentially sleeved on the core shaft, one end of the expansion sleeve abuts against the flange of the core shaft, and the other end abuts against the end face of the sleeve, and the driving device is used to drive the sleeve to move along the axial direction of the core shaft to squeeze the expansion sleeve. The hollow shaft fixing device described in the utility model is provided with an expansion sleeve that can be squeezed and deformed, and can be inserted into the interior of the hollow shaft to fix the hollow shaft, without the need to set special components or clamping positions on the hollow shaft, which can greatly simplify the assembly process of the hollow shaft and improve the assembly accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a hollow shaft fixing device for robot joints. Background Art

[0002] With the rapid development of automation technology, robots, as an important automation equipment, are gaining more and more attention and are being used more and more widely. As an important branch of robots, medical robots are developing rapidly. More and more medical robots are being developed and put into the market after rigorous testing, becoming a powerful assistant for frontline medical staff and patients.

[0003] Due to the particularity of medical application scenarios, there are many stringent requirements for the safety and reliability of medical robots, and the core component that determines the motion performance of medical robots is the joint module. Therefore, the operating accuracy and reliability of the joint module of medical robots are required to be high. Usually, the input and output shafts of the robot are hollow shafts. When assembling the robot joints, the coaxiality of the input and output shafts is very critical. If the coaxiality error between the motor rotor and the input shaft of the reducer is large, or the coaxiality error between the input and output shafts is large, the joint module will vibrate more during operation, affecting the operating accuracy of the joint module.

[0004] Therefore, in the related art, it is necessary to set a special component on the input shaft and cooperate with a special fixture to ensure the assembly accuracy of the robot joint. Utility Model Content

[0005] In view of this, the utility model provides a hollow shaft fixing device, which at least partially solves the problems existing in the prior art.

[0006] A hollow shaft fixing device comprises a core shaft, an expansion sleeve, a sleeve and a driving device, wherein a flange is arranged at the first end of the core shaft, the expansion sleeve and the sleeve are sequentially sleeved on the core shaft, one end of the expansion sleeve abuts against the flange of the core shaft, and the other end abuts against the end face of the sleeve, and the driving device is used to drive the sleeve to move axially along the core shaft to squeeze the expansion sleeve.

[0007] Preferably, the expansion sleeve is an elastically deformable cylindrical structure.

[0008] Preferably, the outer diameter of the flange, the outer diameter of the expansion sleeve and the outer diameter of the sleeve are the same.

[0009] Preferably, the driving device is a threaded driving device, comprising a thread provided on the core shaft and a nut matching the threaded driving device, wherein the nut moves axially along the core shaft through the thread to drive the sleeve to squeeze the expansion sleeve.

[0010] Preferably, the surface where the flange abuts against the expansion sleeve is perpendicular to the core axis.

[0011] Preferably, the surface where the expansion sleeve abuts against the sleeve is perpendicular to the core axis.

[0012] Preferably, the expansion sleeve is an annular rubber sleeve.

[0013] Preferably, the wall thickness of the expansion sleeve is the same as the thickness of the sleeve.

[0014] Preferably, the second end of the core shaft is provided with a latch for connecting to a device for limiting the rotation of the core shaft.

[0015] Preferably, the second end of the core shaft is provided with an electric device for driving the core shaft to rotate.

[0016] The hollow shaft fixing device described in the utility model is provided with an expansion sleeve that can be squeezed and deformed, and can extend into the interior of the hollow shaft to fix the hollow shaft. There is no need to set special components or clamps on the hollow shaft, which can greatly simplify the assembly process of the hollow shaft and improve the assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 An exploded view of the hollow shaft fixing device according to an embodiment of the utility model;

[0019] Figure 2 It is a cross-sectional schematic diagram of the hollow shaft fixing device described in an embodiment of the utility model.

[0020] Description of reference numerals:

[0021] 1-core shaft, 2-flange, 3-expansion sleeve, 4-sleeve, 5-thread, 6-nut, 7-hollow shaft. DETAILED DESCRIPTION

[0022] The embodiments of the utility model are described in detail below with reference to the accompanying drawings.

[0023] It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

[0024] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0025] Figure 1 , Figure 2 This is an exploded view of the hollow shaft fixing device described in an embodiment of the utility model and a cross-sectional view during actual application. The hollow shaft fixing device will now be described in detail in conjunction with the accompanying drawings.

[0026] The hollow shaft fixing device described in this embodiment includes a core shaft 1, an expansion sleeve 3, a sleeve 4 and a driving device. The first end of the core shaft 1, that is, Figure 2 The upper end of the expansion sleeve 3 and the sleeve 4 are sequentially sleeved on the mandrel 1, one end of the expansion sleeve 3 abuts against the flange 2 of the mandrel 1, and the other end abuts against the end face of the sleeve 4, and the driving device is used to drive the sleeve 4 to move axially along the mandrel 1 to squeeze the expansion sleeve 3. In this embodiment, the driving device is a thread driving device, including a thread 5 provided on the mandrel 1 and a nut 6 matched therewith, and the nut 6 moves axially along the mandrel 1 through the thread 5 to drive the sleeve 4 to squeeze the expansion sleeve 3.

[0027] The expansion sleeve 3 is an elastically deformable cylindrical structure. In this embodiment, the expansion sleeve 3 is an annular rubber sleeve, and the wall thickness of the expansion sleeve 3 is the same as that of the sleeve 4. In other embodiments, the expansion sleeve 3 can also be a cylindrical structure composed of metal springs.

[0028] like Figure 2 As shown, the outer diameters of the flange 2, the expansion sleeve 3 and the sleeve 4 are the same, slightly smaller than the inner diameter of the hollow shaft 7, the abutting surface of the flange 2 and the expansion sleeve 3 is perpendicular to the core shaft 1, and the abutting surface of the expansion sleeve 3 and the sleeve 4 is perpendicular to the core shaft 1.

[0029] At the second end of the mandrel 1, that is Figure 2 A latch is provided at the lower end thereof for connecting with a device for limiting the rotation of the mandrel 1 , which device may be a manual wrench or an electric device for driving the mandrel 1 to rotate.

[0030] The hollow shaft fixing device described in this embodiment is provided with an expansion sleeve 3 that can be squeezed and deformed, and can extend into the interior of the hollow shaft 7 to fix the hollow shaft 7. There is no need to set special components or clamps on the hollow shaft 7, which can greatly simplify the assembly process of the hollow shaft 7 and improve the assembly accuracy.

[0031] Especially when applied to the assembly of robot joints, because the input shaft and output shaft of the robot joint are coaxial hollow shaft structures, and the outer surface of the input shaft is provided with wave generators, brakes, motor rotors, bearings and other devices, during assembly, the input shaft needs to be installed into the motor along the axial direction, and the hollow shaft fixing device described in this embodiment can extend into the interior of the hollow shaft, and fix or rotate the hollow shaft through the expansion sleeve 3 that can be squeezed and deformed, thereby not only greatly simplifying the assembly process of the input shaft and the output shaft, but also improving the assembly accuracy of the input shaft and the coaxiality of the input shaft and the output shaft.

[0032] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A hollow shaft fixing device, characterized in that: The invention comprises a core shaft (1), an expansion sleeve (3), a sleeve (4) and a driving device, wherein a flange (2) is arranged at the first end of the core shaft (1), the expansion sleeve (3) and the sleeve (4) are sleeved on the core shaft (1) in sequence, one end of the expansion sleeve (3) abuts against the flange (2) of the core shaft (1), and the other end abuts against the end face of the sleeve (4), and the driving device is used for driving the sleeve (4) to move axially along the core shaft (1) so as to squeeze the expansion sleeve (3).

2. The hollow shaft fixing device according to claim 1, characterized in that: The expansion sleeve (3) is an elastically deformable cylindrical structure.

3. The hollow shaft fixing device according to claim 1, characterized in that: The outer diameter of the flange (2), the outer diameter of the expansion sleeve (3) and the outer diameter of the sleeve (4) are the same.

4. The hollow shaft fixing device according to claim 1, characterized in that: The driving device is a thread driving device, comprising a thread (5) arranged on the core shaft (1) and a nut (6) matching the thread (5), wherein the nut (6) moves axially along the core shaft (1) through the thread (5) to drive the sleeve (4) to squeeze the expansion sleeve (3).

5. The hollow shaft fixing device according to claim 1, characterized in that: The surface where the flange (2) and the expansion sleeve (3) abut is perpendicular to the core shaft (1).

6. The hollow shaft fixing device according to claim 1 or 5, characterized in that: The surface where the expansion sleeve (3) abuts against the sleeve (4) is perpendicular to the core shaft (1).

7. The hollow shaft fixing device according to claim 1 or 2, characterized in that: The expansion sleeve (3) is an annular rubber sleeve.

8. The hollow shaft fixing device according to claim 7, characterized in that: The wall thickness of the expansion sleeve (3) is greater than or equal to the thickness of the sleeve (4).

9. The hollow shaft fixing device according to claim 1, characterized in that: The second end of the core shaft (1) is provided with a latch for connecting to a device for limiting the rotation of the core shaft (1).

10. The hollow shaft fixing device according to claim 1, characterized in that: The second end of the core shaft (1) is provided with an electric device for driving the core shaft (1) to rotate.

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