Dismounting tool and robot

Abstract

The dismounting tool is used for dismounting a gear at the joint part of the robot, the gear is connected with a flange shaft, the dismounting tool comprises a base, a top cover and a dismounting part, the base is provided with a containing cavity used for containing the gear, one end of the containing cavity is provided with an opening, and the other end of the containing cavity is provided with an avoiding hole used for avoiding the flange shaft. The inner diameter of the avoiding hole is smaller than that of the accommodating cavity; the top cover covers the opening, the top cover is connected with the base, and the top cover is provided with a dismounting opening communicated with the containing cavity; the dismounting part and the top cover are movably connected through the dismounting opening so as to reciprocate in the axial direction of the containing cavity, and one end of the dismounting part can stretch into the containing cavity and abut against the end of the flange shaft. The flange shaft and the gear are dismounted through the dismounting tool, the dismounting efficiency of the gear and the flange shaft can be improved, and damage to the gear and the flange shaft caused by violent dismounting can be prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of dismounting tool and robot. BACKGROUND

[0002] With the development of science and technology, robots are applied in many fields. As a kind of quadruped robot applied to complex terrain inspection, the overall stiffness and transmission gap of the transmission system of the quadruped robot are required to be higher due to the relatively harsh working environment. The parts fixedly connected in the transmission system of the quadruped robot are usually fixed by interference fit to reduce the gap between the parts. However, interference fit is not friendly to disassembly and assembly.

[0003] Especially for the disassembly of the gear at the joint part of the quadruped robot, the gear and the flange shaft are fixedly connected by interference fit, which is not easy to disassemble, and the disassembly process is easy to cause the scrap of parts. UTILITY MODEL CONTENT

[0004] Therefore, it is necessary to provide a dismounting tool and a robot to solve the technical problems that the gear at the joint part of the quadruped robot is not easy to disassemble, and the disassembly process is easy to cause the scrap of parts.

[0005] A dismounting tool is used to disassemble the gear at the joint part of a robot, the gear is connected with a flange shaft, and the dismounting tool comprises:

[0006] a base, the base is provided with a receiving cavity for accommodating the gear, one end of the receiving cavity is provided with an opening, and the other end is provided with an avoiding hole for avoiding the flange shaft, the inner diameter of the avoiding hole is smaller than the inner diameter of the receiving cavity;

[0007] a top cover, the top cover is arranged at the opening, the top cover is connected with the base, and the top cover is provided with a dismounting opening communicated with the receiving cavity;

[0008] a dismounting piece, the dismounting piece is movably connected with the top cover through the dismounting opening to reciprocally move along the axial direction of the receiving cavity, and one end of the dismounting piece can extend into the receiving cavity and abut against the end of the flange shaft.

[0009] The technical scheme provides a dismounting tool which is used for dismounting a gear of a joint part of a robot, and the gear is usually fixedly connected with a flange shaft through interference fit. In the technical scheme, an accommodating cavity with an open end is arranged on the base to accommodate the gear, an avoiding hole is arranged at the other end of the accommodating cavity to avoid the flange shaft, so that interference between the flange shaft and the bottom wall of the base is prevented. The inner diameter of the avoiding hole is smaller than the inner diameter of the accommodating cavity, so that the avoiding hole can only avoid the flange shaft, and the end of the gear facing the avoiding hole can be blocked by the bottom wall of the accommodating cavity. The top cover is arranged on the opening of the accommodating cavity and connected with the base, so that the base and the top cover are relatively fixed. The dismounting hole is arranged on the top cover, so that the dismounting piece can be inserted into the accommodating cavity from the dismounting hole and pressed against the end of the flange shaft. When the gear is dismounted, the end face of the gear is abutted against the bottom wall of the base, and when external force is applied to the dismounting piece, the dismounting piece moves relative to the top cover, so that the dismounting piece can apply extrusion force to the flange shaft. Since the gear is limited by the bottom wall of the base, the flange shaft can move relative to the gear in the axial direction under the extrusion force of the dismounting piece, so that the gear is separated from the flange shaft. The flange shaft and the gear in the robot are dismounted by using the above dismounting tool, so that the dismounting of the gear and the flange shaft is facilitated, the efficiency of dismounting the gear and the flange shaft is improved, and damage to the gear and the flange shaft caused by violent dismounting is prevented.

[0010] In one of the embodiments, the base comprises:

[0011] The first shell is configured with a first accommodating groove;

[0012] The second shell is configured with a second accommodating groove, the first accommodating groove and the second accommodating groove are oppositely arranged to define the accommodating cavity, and the first shell and the second shell are detachably connected.

[0013] The base is divided into the first shell and the second shell, and the first shell and the second shell are detachably connected, so that the gear can be arranged in the accommodating cavity through the abutment of the first shell and the second shell, and the gear is blocked by the bottom wall of the accommodating cavity.

[0014] In one of the embodiments, the first shell comprises a first main body and a first baffle, the first baffle is arranged at one end of the first main body, the first main body and the first baffle jointly define the first accommodating groove, and the first baffle is provided with a first notch;

[0015] The second shell comprises a second main body and a second baffle plate arranged at one end of the second main body, and the second main body and the second baffle plate jointly define the second accommodating groove, and the second baffle plate is provided with a second notch;

[0016] The first notch and the second notch jointly define the avoiding hole.

[0017] By arranging the first notch on the first baffle plate and the second notch on the second baffle plate, when the first main body and the second main body are butted, the first notch on the first baffle plate and the second notch on the second baffle plate can avoid the flange shaft, and the first baffle plate and the second baffle plate as the bottom wall of the accommodating cavity can be used to resist the gear.

[0018] In one of the embodiments, one of the first shell and the second shell is provided with a plurality of first connecting holes, and the other is provided with a plurality of first mounting holes, and the first connecting holes correspond to the first mounting holes one by one.

[0019] The first fastener is adapted through the first connecting hole and the corresponding first mounting hole.

[0020] By arranging the first connecting hole and the first mounting hole on the first shell and the second shell respectively, the detachable connection of the first shell and the second shell is realized by adapting the first fastener through the first connecting hole and the first mounting hole. In this way, the structure is simple, and the installation and disassembly are facilitated.

[0021] In some of the embodiments, the first shell and the second shell are butted to form a cylindrical shape.

[0022] The first connecting hole extends along the chord direction of the shell, and the extension direction of the first mounting hole is consistent with the extension direction of the first connecting hole.

[0023] The first shell and the second shell are butted to form a cylindrical shape, which is convenient for processing. The first connecting hole and the first mounting hole are arranged to extend along the chord direction of the base, so that the first fastener can be adapted with the first mounting hole after passing through the first connecting hole, thereby realizing the fixed connection of the first shell and the second shell.

[0024] In one of the embodiments, the base is provided with a plurality of second mounting holes at one end facing the top cover, and the second mounting holes are arranged along the circumferential direction of the base.

[0025] The top cover is provided with a plurality of second connecting holes, and the second connecting holes correspond to the second mounting holes one by one.

[0026] The second fastener is adapted through the second connecting hole and the second mounting hole.

[0027] By setting a plurality of second mounting holes on the base, by setting a second connecting hole on the top cover, and by cooperating the second connecting hole with the second mounting hole through the second fastener, the fixed connection of the top cover and the base is achieved.

[0028] In one of the embodiments, one end of the top cover towards the base is configured with a limiting boss, which extends into the accommodating cavity from the opening, and the limiting boss and the bottom wall of the accommodating cavity jointly hold the gear.

[0029] By setting the limiting boss on the top cover, on one hand, the gear is jointly held by the limiting boss and the bottom wall of the accommodating cavity, so that the gear is fixed when disassembling, thereby improving the stability during disassembly; on the other hand, the limiting boss set on the top cover can improve the strength of the top cover.

[0030] In one of the embodiments, one end of the limiting boss towards the flange shaft is provided with a pressing boss for pressing the flange shaft, and the outer diameter of the pressing boss is smaller than the radial dimension of the flange shaft.

[0031] By setting the pressing boss for pressing the flange shaft on the limiting boss, and setting the outer diameter of the pressing boss to be smaller than the radial dimension of the flange shaft, the pressing boss can press on the flange shaft, so that when disassembling, the contact area with the flange shaft is increased by the pressing boss, thereby preventing the disassembly part from deflecting or shaking when moving relative to the top cover, and further improving the stability of the disassembly part during disassembly of the gear, thereby facilitating the disassembly of the gear.

[0032] In one of the embodiments, the disassembly opening includes the following which are connected in communication:

[0033] A counterbore is arranged at one end of the top cover away from the avoiding hole;

[0034] A threaded hole is arranged at one end of the top cover towards the avoiding hole;

[0035] The disassembly part is provided with an external thread matched with the threaded hole.

[0036] By threadedly connecting the disassembly part with the disassembly opening, when the disassembly part cooperates with the threaded hole at the disassembly opening, the disassembly part moves along its axial direction by rotating the disassembly part, and when the disassembly part is on the flange shaft, the tangential force on the disassembly part is converted into a squeezing force along the axial direction of the disassembly part, thereby driving the flange shaft to move away from the top cover.

[0037] A robot comprises the disassembly tooling and a body as described above, wherein the body is provided with joints, the joints comprising a drive motor and a gear, the drive motor having a flange shaft, the gear being connected to the flange shaft, and the gear and the flange shaft being disassembled by means of the disassembly tooling.

[0038] This technical solution provides a robot, in which the gears and flange shafts in the joints of the robot are disassembled using the above-mentioned disassembly tooling. On the one hand, it facilitates the disassembly of the gears and flange shafts and improves the disassembly efficiency. On the other hand, it is also beneficial to prevent damage to parts caused by violent disassembly.

[0039] Beneficial effects of the utility model:

[0040] The utility model provides a disassembly tool, which is used to disassemble the gears of the joint parts of the robot. Usually, the gears and the flange shaft are fixedly connected by interference fit. In this technical solution, a housing cavity with an opening at one end is constructed on the base to accommodate the gears, and a avoidance hole is provided at the other end of the housing cavity to avoid the flange shaft, thereby preventing the flange shaft from interfering with the bottom wall of the base. The inner diameter of the avoidance hole is set to be smaller than the inner diameter of the housing cavity, so that the avoidance hole can only avoid the flange shaft, and the gear facing the side of the avoidance hole can be blocked by the bottom wall of the housing cavity. A top cover is provided at the opening of the housing cavity and connected to the base so that the base and the top cover are relatively fixed. A disassembly port is provided on the top cover so that the disassembly part can extend into the housing cavity from the disassembly port and press against the end of the flange shaft. When disassembling the gear, by pressing the end face of the gear against the bottom wall of the base, when external force is applied to the disassembly part, the disassembly part can apply an extrusion force to the flange shaft. Since the gear is limited by the bottom wall of the base, the flange shaft can move axially relative to the gear under the extrusion force of the disassembly part, thereby causing the gear to be separated from the flange shaft. By using the above disassembly tool to disassemble the flange shaft and gear in the robot, on the one hand, it is easy to realize the disassembly of the gear and flange shaft, which can improve the efficiency of the disassembly of the gear and flange shaft, and on the other hand, it is also helpful to prevent damage to the gear and flange shaft caused by violent disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the structure of a disassembly tool provided in one embodiment of the present invention after being installed on a joint;

[0042] Figure 2 A schematic cross-sectional view of a disassembly tool provided in one embodiment of the present invention after being installed on a joint;

[0043] Figure 3 A schematic diagram of the external structure of a disassembly tool provided in one embodiment of the present utility model;

[0044] Figure 4 A cross-sectional view of the dismounting tool provided by one embodiment of the present application is shown in FIG. 1.

[0045] Figure 5 A structural schematic view of the base in the dismounting tool provided by one embodiment of the present application is shown in FIG. 2.

[0046] Figure 6 A structural schematic view of the shell in the base in the dismounting tool provided by one embodiment of the present application is shown in FIG. 3.

[0047] Figure 7 A structural schematic view of the dismounting tool provided by one embodiment of the present application after one shell is hidden is shown in FIG. 4.

[0048] Figure 8 A structural schematic view of the top cover in the dismounting tool provided by one embodiment of the present application is shown in FIG. 5.

[0049] Figure 9 A structural schematic view of the dismounting tool provided by one embodiment of the present application when installing the gear is shown in FIG. 6.

[0050] Reference signs:

[0051] Dismounting tool 100, base 110, first shell 111, first main body 1111, first accommodating groove 1111a, first baffle 1112, first notch 1112a, first connecting hole 1113, avoiding hole 1114, second mounting hole 1115, second shell 112, second main body 1121, second accommodating groove 1121a, second baffle 1122, second notch 1122a, first mounting hole 1123, top cover 120, limiting boss 121, pressing boss 1211, dismounting port 122, counterbore 1221, threaded hole 1222, second connecting hole 123, dismounting piece 130, force applying hole 131, accommodating cavity 140, first fastener 150, second fastener 160, joint 200, gear 210, flange shaft 220, motor 230. DETAILED DESCRIPTION

[0052] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without some or all of these details. In other instances, well known process steps have not been described in detail in order to avoid unnecessarily obscuring the present application. Therefore, the specific embodiments described herein are not intended to be limiting, but rather are to serve as examples for the practicing the present application. The description is intended to cover any and all modifications and equivalents.

[0053] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0054] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0055] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the communication or interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0056] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0057] It is to be understood that when an element such as a layer, region or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present. It will be understood that, when a part is referred to as being "fixed on" or "set on" another part, it can be directly on the other part or an intervening part can be present. When a part is referred to as being "connected to" another part, it can be directly connected to the other part or an intervening part can be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions as used herein are for illustrative purposes only and do not indicate the only orientation of the embodiments.

[0058] With the development of science and technology, robots are applied in many fields. As a quadruped robot applied to complex terrain inspection, the overall stiffness and transmission gap of the transmission system of the quadruped robot are required to be high because the working environment is relatively harsh. The fixed connection part in the transmission system of the quadruped robot is usually fixed by interference fit to reduce the gap between the parts. However, interference fit is not convenient for disassembly.

[0059] In particular, for the disassembly of the gear at the joint part of the quadruped robot or biped robot, the gear and the flange shaft are fixedly connected by interference fit, which is not easy to disassemble, and the disassembly process is easy to cause the scrap of the parts.

[0060] Therefore, the utility model provides a kind of dismounting tool to facilitate the auxiliary disassembly gear and flange shaft in the joint of robot, when disassembling gear, by the end face of gear and the bottom wall of base abut, when exerting external force to disassembly piece, disassembly piece can exert extrusion force to flange shaft, since gear is limited by the bottom wall of base, in this way, under the extrusion force of disassembly piece, flange shaft and gear can move relatively along axial direction, further make gear and flange shaft separate. Through the above dismounting tool to disassemble flange shaft and gear in robot, on the one hand, it can improve the efficiency of gear and flange shaft disassembly, on the other hand, it is also beneficial to prevent damage to gear and flange shaft caused by violent disassembly.

[0061] Referring to Figures 1 to 9The utility model discloses an embodiment provides a kind of dismounting tool 100, for dismounting the gear 210 of the joint 200 part of robot, gear 210 is connected with flange shaft 220, dismounting tool 100 includes base 110, top cover 120 and dismounting piece 130, base 110 is equipped with the accommodation cavity 140 for accommodating gear 210, one end of accommodation cavity 140 is equipped with opening, the other end is equipped with the avoiding hole 1114 for avoiding flange shaft 220, the inner diameter of avoiding hole 1114 is less than the inner diameter of accommodation cavity 140;Top cover 120 covers and is located at opening, top cover 120 is connected with base 110, top cover 120 is opened and is equipped with the dismounting mouth 122 with the intercommunication of accommodation cavity 140;Dismounting piece 130 is movably connected with top cover 120 through dismounting mouth 122 to reciprocate along the axial direction of accommodation cavity 140, one end of dismounting piece 130 can be extended into accommodation cavity 140 and is pressed on the end of flange shaft 220.

[0062] The embodiment provides a dismounting tool 100 which is used for dismounting a gear 210 at a joint 200 of a robot, and the gear 210 is usually fixedly connected with a flange shaft 220 through interference fit. In the technical scheme, an open accommodating cavity 140 is arranged on the base 110 to accommodate the gear 210, and an avoiding hole 1114 is arranged at the other end of the accommodating cavity 140 to avoid the flange shaft 220, so that the interference phenomenon between the flange shaft 220 and the bottom wall of the base 110 is prevented. The inner diameter of the avoiding hole 1114 is smaller than the inner diameter of the accommodating cavity 140, so that the avoiding hole 1114 can only avoid the flange shaft 220, and the gear 210 on the side of the end of the avoiding hole 1114 can be blocked by the bottom wall of the accommodating cavity 140. The top cover 120 is arranged at the opening of the accommodating cavity 140, and the top cover 120 is connected with the base 110, so that the base 110 and the top cover 120 are relatively fixed. The dismounting hole 122 is arranged on the top cover 120, so that the dismounting piece 130 can extend into the accommodating cavity 140 from the dismounting hole 122 and press against the end of the flange shaft 220. When the gear 210 is dismounted, the end face of the gear 210 is abutted against the bottom wall of the base 110, and when external force is applied to the dismounting piece 130, the dismounting piece 130 moves relative to the top cover 120, so that the dismounting piece 130 can apply extrusion force to the flange shaft 220. Since the gear 210 is limited by the bottom wall of the base 110, the flange shaft 220 and the gear 210 can relatively move along the axial direction under the extrusion force of the dismounting piece 130, so that the gear 210 and the flange shaft 220 are separated. The flange shaft 220 and the gear 210 in the robot are dismounted through the above dismounting tool 100, on the one hand, the dismounting of the gear 210 and the flange shaft 220 is facilitated, and the dismounting efficiency of the gear 210 and the flange shaft 220 is improved, and on the other hand, the damage of the gear 210 and the flange shaft 220 caused by violent dismounting is prevented.

[0063] It can be understood that in the robot joint 200, the flange shaft 220 is fixedly connected with the output end of the motor 230 through a flange, and the flange shaft 220 is fixedly connected with the gear 210 through interference fit. The gear 210 and the motor base of the motor 230 have a certain gap. The embodiment ingeniously utilizes the gap between the gear 210 and the motor base, and the bottom wall of the base 110 is arranged between the gap between the gear 210 and the motor base, on the one hand, the base 110 is supported by the motor base, and on the other hand, the gear 210 is limited by the bottom wall of the base 110, so that the relative movement between the flange shaft 220 and the gear 210 is driven by applying extrusion force to the flange shaft 220.

[0064] There is no limitation on the specific shape of the base 110, which can be cylindrical or square. The base 110 can be made of materials such as stainless steel.

[0065] like Figure 3 and Figure 5 As shown, in one embodiment, the base 110 includes a first shell 111 and a second shell 112, the first shell 111 is configured with a first accommodating groove 1111a, and the second shell 112 is configured with a second accommodating groove 1121a, the first accommodating groove 1111a and the second accommodating groove 1121a are arranged relative to each other to enclose and define an accommodating cavity 140, and the first shell 111 and the second shell 112 are detachably connected by dividing the base 110 into the first shell 111 and the second shell 112, and the first shell 111 and the second shell 112 are detachably connected, so that the gear 210 can be arranged in the accommodating cavity 140 through the docking of the first shell 111 and the second shell 112, and the gear 210 can be resisted by the bottom wall of the accommodating cavity 140.

[0066] There is no limitation on the disassembly and connection method of the first shell 111 and the second shell 112. A snap can be provided at the joint portion of the first shell 111 and the second shell 112 to achieve a detachable connection of the first shell 111 and the second shell 112 by snapping. In another embodiment, an ear plate can be provided at the joint portion of the first shell 111 and the second shell 112, and a through hole can be provided on the ear plate, and a bolt can be passed through the through hole on the ear plate to lock the first shell 111 and the second shell 112. The first accommodating groove 1111a and the second accommodating groove 1121a can be an arc groove or a square groove, as long as the base 110 does not interfere with the gear 210 after the first shell 111 and the second shell 112 are docked.

[0067] The first shell 111 and the second shell 112 can be two symmetrical halves or two asymmetrical components, and when the two are connected, they form a complete cylindrical shape or a square cylindrical shape.

[0068] like Figure 6As shown, in one of the embodiments, the first shell 111 includes a first main body 1111 and a first baffle 1112, the first baffle 1112 is arranged at one end of the first main body 1111, the first main body 1111 and the first baffle 1112 together enclose a first accommodating groove 1111a, and the first baffle 1112 is provided with a first notch 1112a; the second shell 112 includes a second main body 1121 and a second baffle 1122, the second baffle 1122 is arranged at one end of the second main body 1121, the second main body 1121 and the second baffle 1122 together enclose a second accommodating groove 1121a, and the second baffle 1122 is provided with a second notch 1122a; the first notch 1112a and the second notch 1122a together define an avoiding hole 1114. By arranging the first notch 1112a on the first baffle 1112 and the second notch 1122a on the second baffle 1122, when the first main body 1111 and the second main body 1121 are butted, the first notch 1112a on the first baffle 1112 and the second notch 1122a on the second baffle 1122 can avoid the flange shaft 220, and the first baffle 1112 and the second baffle 1122 as the bottom wall of the accommodating cavity 140 can be used to resist the gear 210.

[0069] In the embodiment, the first main body 1111 and the first baffle 1112, and the second main body 1121 and the second baffle 1122 are all formed by integral molding. Specifically, a through hole can be formed at the bottom of a cylindrical structure, and then the cylindrical structure is divided into two halves along the radius of the cylindrical structure. Among them, the bottom of the cylindrical structure is the first baffle 1112 and the second baffle 1122 mentioned above, after cutting, the semicircle of the bottom is the first notch 1112a and the second notch 1122a mentioned above, and the sidewall of the cylindrical structure is the first main body 1111 and the second main body 1121 mentioned above.

[0070] As shown in Figure 3 , Figures 5 to 7 In one of the embodiments, one of the first shell 111 and the second shell 112 is provided with a first connecting hole 1113, and the other is provided with a first mounting hole 1123, the first connecting hole 1113 corresponds to the first mounting hole 1123 one by one; the first fastener 150 passes through the first connecting hole 1113 and is matched with the corresponding first mounting hole 1123.

[0071] By arranging the first connecting hole 1113 and the first mounting hole 1123 on the first shell 111 and the second shell 112 respectively, and by matching the first fastener 150 through the first connecting hole 1113 and the first mounting hole 1123, the detachable connection of the first shell 111 and the second shell 112 is realized. In this way, the structure is simple and convenient for installation and disassembly.

[0072] Specifically, the first fastener 150 is a bolt, the first connecting hole 1113 is a through hole arranged on the first body 1111, and the first mounting hole 1123 is a threaded hole 1222 arranged on the second body 1121. One end of the first connecting hole 1113 facing the first mounting hole 1123 is defined as a tail end, and the other end of the first connecting hole 1113 away from the first mounting hole 1123 is defined as a head end. The hole diameter of the head end of the first connecting hole 1113 is set to be larger than the hole diameter of the tail end. In this way, the end of the first fastener 150 can be accommodated in the head end of the first connecting hole 1113, and the first fastener 150 will not interfere with the corresponding shell when passing through the first connecting hole 1113.

[0073] As shown in Figure 3 , Figures 5 to 7 in some embodiments, the first shell 111 and the second shell 112 are butted to form a cylindrical shape; the first connecting hole 1113 extends along the chord direction of the first shell, and the extension direction of the first mounting hole 1123 is consistent with the extension direction of the first connecting hole 1113. The first shell 111 and the second shell 112 are butted to form a cylindrical shape, which is convenient for processing. The first connecting hole 1113 and the first mounting hole 1123 are arranged to extend along the chord direction of the base 110, so that the first fastener 150 can be matched with the first mounting hole 1123 after passing through the first connecting hole 1113, thereby realizing the fixed connection of the first shell 111 and the second shell 112.

[0074] Specifically, the first connecting hole 1113 is arranged on the first body 1111, and the first mounting hole 1123 is arranged on the second body 1121. The end of the tail end of the first connecting hole 1113 extends to the end face of the first body 1111 facing the second body 1121. Correspondingly, one end of the first mounting hole 1123 also extends to the end face of the second body 1121 facing the first body 1111. In this way, while ensuring the connection strength of the first shell 111 and the second shell 112, the first fastener 150 does not occupy the space of the accommodation cavity 140, thereby making the base 110 more compact.

[0075] As shown in Figures 5 to 8 in one of the embodiments, the base 110 is provided with a plurality of second mounting holes 1115 at one end facing the top cover 120, and the plurality of second mounting holes 1115 are arranged at intervals along the circumferential direction of the base 110. The top cover 120 is provided with a plurality of second connecting holes 123 corresponding to the second mounting holes 1115 one by one; wherein the second fastener 160 passes through the second connecting hole 123 and is matched with the second mounting hole 1115.

[0076] Optionally, the plurality of second mounting holes 1115 can be distributed on the first shell 111 and the second shell 112.

[0077] By setting a plurality of second mounting holes 1115 on the base 110, by setting a second connecting hole 123 on the top cover 120, to realize the fixed connection of the top cover 120 and the base 110 by the second fastener 160 passing through the second connecting hole 123 and cooperating with the second mounting hole 1115.

[0078] Specifically, the second fastener 160 is also a bolt. The second connecting hole 123 is a through hole, and the second mounting hole 1115 is a threaded hole 1222, which is set in such a way that when fixing the top cover 120 and the base 110, only the second fastener 160 needs to be passed through the second connecting hole 123 on the top cover 120, and then cooperates with the second mounting hole 1115, to realize the fixed connection of the top cover 120 and the base 110. In another embodiment, an outer edge can also be provided on the end of the base 110 facing the top cover 120, and a through hole corresponding to the second connecting hole 123 is provided on the outer edge, and then the bolt is passed through the second connecting hole 123 and the through hole on the outer edge, and then fastened by the nut.

[0079] As shown in Figure 4 , Figure 7 and Figure 8 , in one of the embodiments, the end of the top cover 120 facing the base 110 is configured with a limiting boss 121, the limiting boss 121 extends into the accommodating cavity 140 from the opening, and the limiting boss 121 clamps the gear 210 together with the bottom wall of the accommodating cavity 140.

[0080] By setting the limiting boss 121 on the top cover 120, on the one hand, the limiting boss 121 and the bottom wall of the accommodating cavity 140 can clamp the gear 210 together to make the gear 210 fixed relative to the base 110 and the top cover 120 when disassembling the gear 210, thereby improving the stability during disassembly; on the other hand, setting the limiting boss 121 on the top cover 120 can improve the strength of the top cover 120.

[0081] Further, the end of the limiting boss 121 facing the flange shaft 220 is provided with a pressing boss 1211 for pressing the flange shaft 220, and the outer diameter of the pressing boss 1211 is smaller than the radial dimension of the flange shaft 220. By setting the pressing boss 1211 for pressing the flange shaft 220 on the limiting boss 121, and setting the outer diameter of the pressing boss 1211 to be smaller than the radial dimension of the flange shaft 220, so that the pressing boss 1211 can press on the flange shaft 220, thereby increasing the contact area with the flange shaft 220 during disassembly, preventing the disassembly part 130 from deflecting or shaking when moving relative to the top cover 120, and further improving the stability of the disassembly part 130 during disassembly of the gear 210, thereby facilitating the disassembly of the gear 210.

[0082] As Figure 1 , Figure 2 and Figure 4 shown, in one embodiment, the dismounting port 122 includes a through hole 1221 and a threaded hole 1222, the through hole 1221 is arranged at the end of the top cover 120 away from the avoiding hole 1114; the threaded hole 1222 is arranged at the end of the top cover 120 towards the avoiding hole 1114; wherein the dismounting piece 130 is provided with an external thread matched with the threaded hole 1222.

[0083] By threadedly connecting the dismounting piece 130 with the dismounting port 122, when the dismounting piece 130 is matched with the threaded hole 1222 at the dismounting port 122, by rotating the dismounting piece 130, the dismounting piece 130 moves along its axial direction, when the dismounting piece 130 abuts against the flange shaft 220, the tangential force on the dismounting piece 130 can be converted into a pressing force along the axial direction of the dismounting piece 130, thereby driving the flange shaft 220 to move away from the top cover 120.

[0084] It should be noted that in the present embodiment, a threaded hole 1222 is arranged at the end of the flange shaft 220, the diameter of the threaded hole 1222 on the flange shaft 220 is smaller than that of the threaded hole 1222 on the top cover 120. In this way, when the gear 210 is dismounted, the dismounting piece 130 can abut against the end face of the flange shaft 220 without being screwed into the threaded hole 1222 on the flange shaft 220. When the gear 210 is mounted, as shown in Figure 9 , a bolt can be passed through the threaded hole 1222 on the dismounting port 122 and matched with the threaded hole 1222 on the flange shaft 220, and then the gear 210 is pressed into the flange shaft 220 by the pre-tightening force between the top cover 120 and the bolt and the flange shaft 220.

[0085] As Figure 1 and Figure 4 shown, in one embodiment, the end of the dismounting piece 130 away from the external thread is provided with a force applying hole 131, the force applying hole 131 is used to cooperate with a force applying tool to apply a tangential force to the dismounting piece 130.

[0086] By arranging the force applying hole 131 on the dismounting piece 130, the end of a wrench or other force applying tool can be matched with the force applying hole 131, thereby applying a force to the dismounting piece 130, thereby driving the dismounting piece 130 to move relative to the top cover 120.

[0087] Specifically, the force applying hole 131 on the dismounting piece 130 is arranged as an internal hexagonal structure, thereby facilitating matching with an external hexagonal wrench.

[0088] The utility model discloses an embodiment further provides a kind of robot, robot is above the dismounting tool 100 and fuselage of dismantling, fuselage includes joint 200, joint 200 includes drive motor 230 and gear 210, drive motor 230 has flange shaft 220, gear 210 is connected with flange shaft 220, the dismounting of gear 210 and flange shaft 220 is dismantled by dismounting tool 100.

[0089] The technical scheme provides a kind of robot, the dismounting of gear 210 and flange shaft 220 in the joint 200 of robot is dismantled by above-mentioned dismounting tool 100, one hand is convenient for the dismounting of gear 210 and flange shaft 220, improve the dismounting efficiency, on the other hand, it is also favorable to prevent the damage to component caused by violent dismounting.

[0090] As Figure 1 , Figure 2 and Figure 9 The utility model provides the use method of dismounting tool 100 as shown below:

[0091] As Figure 1 and Figure 2 When dismounting gear 210, first butt joint first shell body 111 and second shell body 112, so that gear 210 is wrapped between first shell body 111 and second shell body 112, it can be understood that, at this time, first baffle 1112 of first shell body 111 and second baffle 1122 of second shell body 112 are located in the gap between gear 210 and motor base;Then first shell body 111 and second shell body 112 are fixed by first fastener 150.Connect first shell body 111 and second shell body 112 with top cover 120 by second fastener 160.Then insert dismounting piece 130 into dismounting port 122, by screwing dismounting piece 130, so that dismounting piece 130 is on the end of flange shaft 220.In the process of screwing dismounting piece 130, because dismounting piece 130 and dismounting port 122 are threadedly matched, the tangential force of dismounting piece 130 can be converted into axial force to flange shaft 220;Gear 210 is limited by the bottom wall of base 110, flange shaft 220 moves relative to gear 210 under the extrusion force of dismounting piece 130, so that gear 210 and flange shaft 220 are separated, so the dismounting of gear 210 and flange shaft 220 is completed.

[0092] As Figure 9 When installing gear 210, only keep the upper cover, gently place gear 210 on flange shaft 220, place top cover 120 above gear 210, by screwing screw into the threaded hole 1222 of flange shaft 220 from the dismounting port 122 of top cover 120, gear 210 is pressed in by the pre-tightening force of screw.This installation method avoids the axial impact force generated by knocking on motor 230.

[0093] Each technical feature of the above-described embodiments can be combined with any other technical feature, and for the sake of brevity, not all possible combinations are described, but it is understood that the scope of the disclosure encompasses all such possible combinations.

[0094] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A dismounting tool for dismounting a gear of a joint part of a robot, the gear being connected with a flange shaft, characterized in that, The dismounting tool comprises: a base provided with a receiving cavity for accommodating the gear, one end of the receiving cavity being provided with an opening and the other end being provided with an avoiding hole for avoiding the flange shaft, the inner diameter of the avoiding hole being smaller than the inner diameter of the receiving cavity; a top cover provided on the opening, the top cover being connected with the base, the top cover being provided with a dismounting opening communicated with the receiving cavity; a dismounting piece movably connected with the top cover through the dismounting opening to reciprocate along the axial direction of the receiving cavity, one end of the dismounting piece being capable of extending into the receiving cavity and abutting against the end of the flange shaft.

2. The dismounting tool according to claim 1, characterized in that The base comprises: a first shell provided with a first receiving groove; a second shell provided with a second receiving groove, the first receiving groove and the second receiving groove being oppositely arranged to define the receiving cavity, the first shell and the second shell being detachably connected.

3. The disassembly tool according to claim 2, characterized in that The first shell comprises a first main body and a first baffle provided at one end of the first main body, the first main body and the first baffle jointly defining the first receiving groove, the first baffle being provided with a first notch; The second shell comprises a second main body and a second baffle provided at one end of the second main body, the second main body and the second baffle jointly defining the second receiving groove, the second baffle being provided with a second notch; The first notch and the second notch jointly define the avoiding hole.

4. The disassembly tool according to claim 2, wherein One of the first shell and the second shell is provided with a first connecting hole, and the other is provided with a first mounting hole, the first connecting hole corresponding to the first mounting hole one by one; A first fastener is adapted to pass through the first connecting hole and the corresponding first mounting hole.

5. The disassembly tool according to claim 4, characterized in that The first shell and the second shell are butted to form the cylindrical base; The first connecting hole extends along the chord direction of the base, and the extension direction of the first mounting hole is consistent with the extension direction of the first connecting hole.

6. The disassembly tool of claim 1, wherein The end of the base towards the top cover is provided with a plurality of second mounting holes, the second mounting holes being spaced apart along the circumferential direction of the base; The top cover is provided with a plurality of second connecting holes corresponding to the second mounting holes; A second fastener is adapted to pass through the second connecting hole and the second mounting hole.

7. The disassembly tool according to any one of claims 1 to 6, characterized in that The end of the top cover towards the base is provided with a limiting boss extending into the receiving cavity from the opening, the limiting boss and the bottom wall of the receiving cavity jointly clamping the gear.

8. The disassembly tool according to claim 7, characterized in that The end of the limiting boss towards the flange shaft is provided with an abutting boss for abutting against the flange shaft, the outer diameter of the abutting boss being smaller than the radial dimension of the flange shaft.

9. The disassembly tool according to any one of claims 1 to 6, characterized in that The dismounting opening comprises: a counterbore provided at one end of the top cover away from the avoiding hole; a threaded hole provided at one end of the top cover towards the avoiding hole; The dismounting piece is provided with an external thread matched with the threaded hole.

10. A robot, characterized in that The dismounting tool and the fuselage as claimed in any one of claims 1 to 9, wherein the fuselage is provided with a joint, the joint comprising a drive motor and a gear, the drive motor having a flange shaft, the gear being connected to the flange shaft, the dismounting of the gear from the flange shaft being dismounted by means of the dismounting tool.

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