Joint module assembling device

Abstract

A joint module assembling device comprises a wrench and a positioning piece. The positioning piece is arranged at the bottom of the joint module, and a positioning hole is formed in the top and used for fixing the bottom of a speed reducer of the joint module. The wrench comprises a handle and a rotating head, an arc-shaped avoiding groove is formed in the middle of the rotating head and used for avoiding a frameless torque motor shaft during use, two connecting columns are arranged on the portions, on the two sides of the avoiding groove, of the rotating head, and the connecting columns penetrate through the rotating head to extend towards one side and are used for being inserted into a code disc on a joint module. And the center of the coded disc is driven to be in threaded fit with the frameless torque motor shaft. The coded disc can be firmly screwed on the frameless torque motor shaft, and the problem that motor input and output cannot be accurately controlled due to the fact that the coded disc is loosened is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint module assembly technical field, concretely relates to a joint module assembly device. BACKGROUND

[0002] The joint module of the utility model is used for collaborative robot.

[0003] The speed reducer of joint module is through the high speed rotation of motor to realize the low speed high torque of speed reducer, and in this process, the input and output of motor and speed reducer need to be controlled accurately, which needs to be realized through a circuit board, the circuit board is installed in the rear half part of joint module, the transmission between data of the tail of motor rotor and speed reducer output shaft and code disc is carried out, and the threaded connection between disc and frameless torque motor shaft is adopted.

[0004] Therefore, the utility model discloses a kind of joint module assembly device, to solve the above problems, to ensure that the thread cooperation between code disc and frameless torque motor shaft reaches the required pre-tightening force, prevent the problem that code disc loosening leads to unable accurate control motor input and output. UTILITY MODEL CONTENTS

[0005] In view of the problems and deficiencies in the prior art, the utility model provides a kind of joint module assembly device.

[0006] The utility model technical scheme is as follows:

[0007] A kind of joint module assembly device, including spanner and positioning piece;

[0008] Positioning piece is set to the bottom of joint module, top has positioning hole, for fixing the bottom of the speed reducer of joint module;

[0009] Spanner includes handle and rotating head, the middle part of rotating head is configured as arc-shaped avoiding slot, for avoiding frameless torque motor shaft when using, two connecting columns are equipped on the rotating head of avoiding slot two sides, connecting column extends to a side perpendicularly through rotating head, for inserting code disc on joint module to drive code disc center and frameless torque motor shaft thread cooperation.

[0010] According to a specific embodiment, to correspond with the shape of frameless torque motor shaft, avoiding slot is semicircular slot, and radius is greater than the radius of frameless torque motor shaft, to prevent interference with frameless torque motor shaft when using.

[0011] According to one specific embodiment, the rotating head is provided with a fixing hole, and the connecting column is fixedly connected with the rotating head through the fixing hole. Specifically, the connecting column and the fixing hole can be fixedly connected through a hard fit, or can be integrally formed with the rotating head.

[0012] According to one specific embodiment, the handle and the rotating head are integrally formed, so as to facilitate mass production and reduce costs.

[0013] According to one specific embodiment, the positioning hole is a stepped blind hole with a decreasing hole diameter, and a first connecting hole is arranged in the top hole, and a second connecting hole is arranged in the lower hole. The first connecting hole and the second connecting hole are used to connect with the speed reducer. The hole diameter of the positioning hole corresponds to the outer diameter of the speed reducer, so that the bottom of the speed reducer can be inserted into the positioning hole, and then the first connecting hole and the second connecting hole are fixedly connected with the positioning member.

[0014] Further, in order to connect the bolt from the bottom to the speed reducer, and to ensure that the bolt head at the top is not exposed, the first connecting hole and the second connecting hole are counter-sunk holes extending upward from the bottom of the positioning member.

[0015] According to one specific embodiment, in order to improve the stability of the connection between the positioning member and the speed reducer, the first connecting hole and the second connecting hole are arranged in multiple along the circumferential direction of the positioning hole.

[0016] The beneficial effects of the utility model are:

[0017] By arranging the positioning member at the bottom of the joint module, the speed reducer at the bottom of the joint module is fixed during assembly of the encoder disc, so that the frameless torque motor shaft is relatively fixed, and then the encoder disc is tightened by a wrench.

[0018] The wrench comprises a handle and a rotating head. The middle part of the rotating head is configured as an arc-shaped avoiding slot, which can avoid the frameless torque motor shaft during use. Two connecting columns are arranged on the rotating head at both sides of the avoiding slot, which can be inserted into the holes at the corresponding positions of the encoder disc on the joint module, so as to drive the center of the encoder disc to rotate relative to the frameless torque motor shaft, and realize fastening. Further, the problem that the encoder disc is loose and cannot accurately control the input and output of the motor is prevented. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The perspective view is used for the embodiment;

[0020] Figure 2 The sectional view is used for Figure 1

[0021] Figure 3 The perspective view of the wrench is used for Figure 1

[0022] Figure 4 The perspective view of the wrench is used for​​Figure 1 perspective view of the positioning member;

[0023] 1, wrench; 11, handle; 12, rotating head; 13, avoiding slot; 14, connecting column; 2, positioning member; 21, positioning hole; 22, first connecting hole; 23, second connecting hole; 3, code disc; 4, frameless torque motor shaft; 5, speed reducer. DETAILED DESCRIPTION

[0024] The technical means adopted to achieve the predetermined inventive purpose of the present application will be further described below in combination with the drawings of the embodiments of the present application.

[0025] Referring to Figure 1 , a joint module assembly device comprises a wrench 1 and a positioning member 2.

[0026] Referring to Figure 1 and Figure 4 , the positioning member 2 is arranged at the bottom of the joint module, and the top of the positioning member 2 is provided with a positioning hole 21 for fixing the bottom of the speed reducer 5 of the joint module;

[0027] Referring to Figure 1 and Figure 3 , the wrench 1 comprises a handle 11 and a rotating head 12, and the middle part of the rotating head 12 is configured as an arc-shaped avoiding slot 13 for avoiding the frameless torque motor shaft 4 when in use. Two connecting columns 14 are arranged on the rotating head 12 at both sides of the avoiding slot 13, and the connecting columns 14 extend to one side through the rotating head 12 and are used for being inserted into the holes on the code disc 3 of the joint module and driving the center of the code disc 3 to be threadedly connected with the frameless torque motor shaft 4.

[0028] In use, referring to Figure 1 and Figure 2 , the positioning member 2 is arranged at the bottom of the joint module, so that the bottom of the speed reducer 5 of the joint module is fixed when the code disc 3 is assembled, and the frameless torque motor shaft 4 is relatively fixed, and then the code disc 3 is tightened by the wrench 1.

[0029] The wrench 1 comprises a handle 11 and a rotating head 12, and the middle part of the rotating head 12 is configured as an arc-shaped avoiding slot 13, which can avoid the frameless torque motor shaft 4 when in use. Two connecting columns 14 are arranged on the rotating head 12 at both sides of the avoiding slot 13, which can be inserted into the holes at the corresponding positions on the code disc 3 of the joint module, so as to drive the center of the code disc 3 to rotate relative to the frameless torque motor shaft 4 and realize fastening. In this way, the problem that the code disc 3 is loosened and cannot accurately control the input and output of the motor is prevented.

[0030] Referring to Figure 3 , according to a specific embodiment, in order to correspond to the shape of the frameless torque motor shaft 4, the avoiding slot 13 is a semicircular slot, and the radius is greater than the radius of the frameless torque motor shaft 4, so as to prevent interference with the frameless torque motor shaft 4 when in use.

[0031] According to a specific embodiment, the rotating head 12 is provided with a fixing hole, and the connecting column 14 is fixedly connected with the rotating head 12 through the fixing hole. Specifically, the connecting column 14 and the fixing hole can be fixedly connected through a hard fit, or can be integrally formed with the rotating head 12.

[0032] According to a specific embodiment, in order to facilitate mass production and reduce costs, the handle 11 and the rotating head 12 are integrally formed.

[0033] Referring to Figure 4 According to a specific embodiment, the positioning hole 21 is a stepped blind hole with a decreasing hole diameter, and the top surface is provided with a first connecting hole 22, and the bottom surface is provided with a second connecting hole 23. The first connecting hole 22 and the second connecting hole 23 are used to be connected with the speed reducer 5. The hole diameter of the positioning hole 21 corresponds to the outer diameter of the speed reducer 5, so that the bottom of the speed reducer 5 can be inserted into the positioning hole 21, and then the speed reducer 5 is fixedly connected with the positioning member 2 through the first connecting hole 22 and the second connecting hole 23.

[0034] Further, in order to connect the bolt from the bottom to the speed reducer 5, and ensure that the bolt head at the top is not exposed outside, the first connecting hole 22 and the second connecting hole 23 are counterbore holes extending upward from the bottom of the positioning member 2.

[0035] According to a specific embodiment, in order to improve the stability of the connection between the positioning member 2 and the speed reducer 5, the first connecting hole 22 and the second connecting hole 23 are arranged in multiple along the circumferential direction of the positioning hole 21.

[0036] The above is the preferred embodiment of the present application, but the present application is not limited to the above embodiments and examples. Within the knowledge of those skilled in the art, various changes, equivalent replacements, improvements, etc. made without departing from the concept of the present application shall be included in the protection scope of the present application.

Claims

1. A joint module assembly apparatus, characterized by, The wrench (1) and the positioning member (2) are included. The positioning member (2) is arranged at the bottom of the joint module, and the top has a positioning hole (21) for fixing the reducer (5) at the bottom of the joint module. The wrench (1) includes a handle (11) and a rotating head (12), the middle part of the rotating head (12) is configured as an arc-shaped avoiding slot (13) for avoiding the frameless torque motor shaft (4) during use, two connecting columns (14) are arranged on the rotating head (12) on both sides of the avoiding slot, the connecting columns (14) vertically pass through the rotating head (12) and extend to one side for being inserted into the encoder (3) on the joint module to drive the center of the encoder (3) to be threadedly connected with the frameless torque motor shaft (4).

2. The joint module assembly apparatus of claim 1, wherein, The avoiding slot (13) is a semicircular slot.

3. The joint module assembly apparatus of claim 2, wherein, The rotating head (12) is provided with a fixing hole, and the connecting column (14) is fixedly connected with the rotating head (12) through the fixing hole.

4. The joint module assembly apparatus of claim 3, wherein, The handle (11) and the rotating head (12) are integrally formed.

5. The joint module assembly apparatus of any one of claims 1-4, wherein, The positioning hole (21) is a stepped blind hole with a decreasing hole diameter, a first connecting hole (22) is arranged in the top hole, and a second connecting hole (23) is arranged in the lower hole, and the first connecting hole (22) and the second connecting hole (23) are used for being connected with the reducer (5).

6. The joint module assembly apparatus of claim 5, wherein, The first connecting hole (22) and the second connecting hole (23) are counter-sunk holes extending upward from the bottom of the positioning member (2).

7. The joint module assembly apparatus of claim 6, wherein, The first connecting hole (22) and the second connecting hole (23) are evenly arranged in multiple along the circumference of the positioning hole (21).

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