Special tool for mounting motor base and C-series speed reducer of industrial robot

Abstract

The utility model relates to a special tool for installing a motor base and a C-series speed reducer of an industrial robot, the speed reducer comprises a sun gear and a planet gear, the speed reducer is arranged in the motor base, the special tool comprises a connecting rod, an expansion piece and a pressing piece, and the connecting rod penetrates through the sun gear and the planet gear; the expansion and contraction piece is arranged at the end, close to the sun gear, of the connecting rod and used for being matched with an inner hole of the sun gear to achieve radial expansion so as to fix the sun gear. The pressing piece is arranged at the end, close to the planet wheel, of the connecting rod and used for fixing the planet wheel through axial pressing force and assisting the expansion and contraction piece in overall fixing of the speed reducer. Through mutual cooperation of the connecting rod, the expansion and contraction piece and the pressing piece, the sun gear and the planet gear are assembled and fixed firstly and then installed into the motor base of the industrial robot, the assembly precision of the motor base of the industrial robot and the C-series speed reducer is improved, and the assembly efficiency is also improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a special tool for industrial robot motor seat and C series speed reducer installation. BACKGROUND

[0002] Industrial robot is widely used in industrial field multi -joint manipulator or multi -freedom machine device, has certain automaticity, can rely on self power energy and control ability realizes various industrial processing manufacturing function. When assembling and debugging the transmission part of the robot, it must be ensured that the assembly precision meets the requirements. Among them, the installation between the industrial robot motor seat and the C series speed reducer is particularly important. The commonly used installation mode is the normal sequence installation, that is, the motor seat is assembled with the sun gear first, and then the speed reducer (planetary gear) is assembled with the sun gear. In the assembly tool process, due to the structure, the staff cannot visually check whether the teeth of the sun gear and the three planetary gears are aligned at the same time, and the planetary gear and the sun gear are prone to knock, which reduces the assembly precision and causes abnormal noise of the robot in the subsequent operation process. SUMMARY

[0003] This section aims to outline some aspects of the embodiments of the present utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the utility model name to avoid obscuring the purpose of this section, the abstract of the specification and the utility model name. Such simplifications or omissions cannot be used to limit the scope of the utility model.

[0004] The technical problem to be solved by the utility model is how to improve the assembly precision of the industrial robot motor seat and the C series speed reducer.

[0005] To solve the above technical problems, the utility model provides the following technical scheme: a special tool for industrial robot motor seat and C series speed reducer installation, the speed reducer includes sun gear and planetary gear, the speed reducer is arranged in the motor seat, the special tool includes connecting rod, expansion and contraction part and compression part, the connecting rod penetrates the sun gear and planetary gear;

[0006] The expansion and contraction part is arranged at one end of the connecting rod close to the sun gear, is used for cooperating with the inner hole of the sun gear, realizes radial expansion to fix the sun gear, the compression part is arranged at one end of the connecting rod close to the planetary gear, is used for fixing the planetary gear through axial compression force, and assists the expansion and contraction part to fix the speed reducer as a whole.

[0007] As a preferred scheme of the special tool for mounting the motor seat of the industrial robot and the C series speed reducer, the expansion and contraction component comprises a pressing block and an expansion sleeve, the pressing block is arranged at one end of the connecting rod, the expansion sleeve is arranged in the inner hole of the sun gear, and the pressing block and the expansion sleeve are expanded radially through taper surface cooperation to form interference connection between the expansion sleeve and the inner hole of the sun gear.

[0008] As a preferred scheme of the special tool for mounting the motor seat of the industrial robot and the C series speed reducer, the expansion and contraction component comprises a pressing block and an expansion sleeve, the pressing block is arranged at one end of the connecting rod, the expansion sleeve is arranged in the inner hole of the sun gear, and the pressing block and the expansion sleeve are expanded radially through taper surface cooperation to form interference connection between the expansion sleeve and the inner hole of the sun gear.

[0009] As a preferred scheme of the special tool for mounting the motor seat of the industrial robot and the C series speed reducer, the expansion and contraction component comprises a pressing block and an expansion sleeve, the pressing block is arranged at one end of the connecting rod, the expansion sleeve is arranged in the inner hole of the sun gear, and the pressing block and the expansion sleeve are expanded radially through taper surface cooperation to form interference connection between the expansion sleeve and the inner hole of the sun gear.

[0010] As a preferred scheme of the special tool for mounting the motor seat of the industrial robot and the C series speed reducer, the expansion and contraction component comprises a pressing block and an expansion sleeve, the pressing block is arranged at one end of the connecting rod, the expansion sleeve is arranged in the inner hole of the sun gear, and the pressing block and the expansion sleeve are expanded radially through taper surface cooperation to form interference connection between the expansion sleeve and the inner hole of the sun gear.

[0011] As a preferred scheme of the special tool for mounting the motor seat of the industrial robot and the C series speed reducer, the expansion and contraction component comprises a pressing block and an expansion sleeve, the pressing block is arranged at one end of the connecting rod, the expansion sleeve is arranged in the inner hole of the sun gear, and the pressing block and the expansion sleeve are expanded radially through taper surface cooperation to form interference connection between the expansion sleeve and the inner hole of the sun gear.

[0012] Beneficial effects: through the cooperation between the connecting rod, the expansion and contraction component and the compression component, the sun gear and the planetary gear are first assembled and fixed and then assembled into the motor seat of the industrial robot, which not only improves the assembly precision of the motor seat of the industrial robot and the C series speed reducer, but also improves the assembly efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor. Among them:

[0014] Fig. 1The whole structure schematic diagram of the special tool for industrial robot motor base and C series speed reducer installation.

[0015] Fig. 2 The whole structure schematic diagram of the special tool for industrial robot motor base and C series speed reducer installation.

[0016] Fig. 3 The whole structure schematic diagram of the special tool for industrial robot motor base and C series speed reducer installation.

[0017] Fig. 4 The whole structure schematic diagram of the special tool for industrial robot motor base and C series speed reducer installation.

[0018] In the figure: 1, connecting rod; 2, expansion piece; 21, pressing block; 22, expansion sleeve; 221, taper hole; 3, pressing piece; 31, nylon pad; 32, pressing plate; 33, locking nut; 4, stop sleeve; 5, guide rod; 6, motor base; 7, speed reducer; 71, sun gear; 72, planet gear. DETAILED DESCRIPTION

[0019] In order to make the above objects, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0020] In the following description, a lot of specific details are set forth in order to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application, therefore the present application is not limited by the specific embodiments disclosed below.

[0021] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. In this specification, "in one embodiment" does not mean the same embodiment, nor is it an independent or alternative embodiment.

[0022] EMBODIMENT

[0023] REFERENCE Figs. 1-4 The embodiment provides a special tool for industrial robot motor base and C series speed reducer installation, the speed reducer 7 comprises a sun gear 71 and a planet gear 72, the speed reducer 7 is arranged in the motor base 6, the special tool comprises a connecting rod 1, an expansion piece 2 and a pressing piece 3, the connecting rod 1 penetrates the sun gear 71 and the planet gear 72;

[0024] The expansion and contraction part 2 is arranged at one end of the connecting rod 1 close to the sun gear 71, and is used to cooperate with the inner hole of the sun gear 71 to realize radial expansion to fix the sun gear 71; the pressing part 3 is arranged at one end of the connecting rod 1 close to the planetary gear 72, and is used to fix the planetary gear 72 through axial pressing force, and assists the expansion and contraction part 2 to fix the speed reducer 7 as a whole.

[0025] The special tool in the embodiment is mainly used for installation between the motor seat 6 of the industrial robot and the C series speed reducer 7, wherein the speed reducer 7 is mainly composed of the sun gear 71 and the planetary gear 72, and the whole speed reducer 7 needs to be installed into the motor seat 6. The special tool is mainly composed of the connecting rod 1, the expansion and contraction part 2 and the pressing part 3. The connecting rod 1 penetrates through the sun gear 71 and the planetary gear 72. The expansion and contraction part 2 is installed at one end of the connecting rod 1 close to the sun gear 71, and is used to cooperate with the inner hole of the sun gear 71 to realize radial expansion to fix the sun gear 71. The pressing part 3 is installed at one end of the connecting rod 1 close to the planetary gear 72, and is used to fix the planetary gear 72 through axial pressing force, and assists the expansion and contraction part 2 to fix the speed reducer 7 as a whole. In the embodiment, the sun gear 71 and the planetary gear 72 are first assembled and fixed, and then are installed into the motor seat 6 of the industrial robot through cooperation between the connecting rod 1, the expansion and contraction part 2 and the pressing part 3. Therefore, the assembly precision of the motor seat 6 of the industrial robot and the C series speed reducer 7 is improved, and the assembly efficiency is also improved.

[0026] Specifically, the expansion and contraction part 2 includes a pressing block 21 and an expansion sleeve 22. The pressing block 21 is arranged at one end of the connecting rod 1, and the expansion sleeve 22 is arranged in the inner hole of the sun gear 71. The pressing block 21 and the expansion sleeve 22 realize radial expansion through taper surface cooperation, so that the expansion sleeve 22 is in interference connection with the inner hole of the sun gear 71.

[0027] The expansion and contraction part 2 in the embodiment is mainly composed of the pressing block 21 and the expansion sleeve 22. The pressing block 21 is welded at one end of the connecting rod 1 by welding. The expansion sleeve 22 is placed in the inner hole of the sun gear 71. It should be noted that the expansion sleeve 22 has a certain elasticity. Under normal size, the expansion sleeve 22 is in clearance fit with the inner hole of the sun gear 71. During assembly, the connecting rod 1 is penetrated through the expansion sleeve 22 until the pressing block 21 at the end of the connecting rod 1 enters the expansion sleeve 22. The pressing block 21 cooperates with the expansion sleeve 22 through taper surface. At this time, a pulling force is applied to the connecting rod 1 again, so that the connecting rod 1 pulls the pressing block 21 to extrude the expansion sleeve 22. The expansion sleeve 22 expands and deforms radially outward. The outer side wall of the expansion sleeve 22 tightly abuts against the inner hole wall of the sun gear 71. At this time, the expansion sleeve 22 is in interference fit with the inner hole of the sun gear 71, so that the sun gear 71 is fixed firmly.

[0028] Further, the pressing block 21 is in a circular truncated cone structure, and its outer diameter gradually shrinks along the direction close to the pressing part 3. The expansion sleeve 22 is provided with a taper hole 221 matched with the pressing block 21.

[0029] The embodiment designs the briquetting block 21 as a circular truncated cone structure, and the outer diameter of the briquetting block 21 gradually shrinks in the direction close to the compression member 3, that is, the outer diameter of the briquetting block 21 gradually decreases in the direction close to the planetary gear 72 from the sun gear 71. Meanwhile, the embodiment is provided with a tapered hole 221 on the expansion sleeve 22, which cooperates with the structure of the briquetting block 21. When the briquetting block 21 extrudes the expansion sleeve 22, the expansion sleeve 22 can be uniformly stressed and gradually expanded and deformed outward, and the outer side wall of the expansion sleeve 22 can tightly adhere to the inner hole wall of the sun gear 71, so that the expansion sleeve 22 can firmly fix the sun gear 71.

[0030] Specifically, the compression member 3 includes a nylon pad plate 31, a pressing plate 32 and a locking nut 33. The nylon pad plate 31 and the pressing plate 32 are sequentially sleeved on the end of the connecting rod 1 away from the expansion and contraction member 2, and the locking nut 33 is threadedly connected to the end of the connecting rod 1, for compressing the pressing plate 32 to fix the planetary gear 72.

[0031] The compression member 3 in the embodiment mainly includes the nylon pad plate 31, the pressing plate 32 and the locking nut 33. The nylon pad plate 31 and the pressing plate 32 are sequentially sleeved on the end of the connecting rod 1 away from the briquetting block 21. The pressing plate 32 can be used to compress and fix the planetary gear 72. The nylon pad plate 31 is sleeved between the pressing plate 32 and the planetary gear 72, so as to protect the planetary gear 72. After the nylon pad plate 31 and the pressing plate 32 are sleeved, the locking nut 33 is threadedly connected to the connecting rod 1. The locking nut 33 is continuously tightened to compress the pressing plate 32 and fix the planetary gear 72. Meanwhile, the locking nut 33 also applies a pulling force to the connecting rod 1, so that the connecting rod 1 drives the briquetting block 21 to move towards the pressing plate 32, and the briquetting block 21 extrudes the expansion sleeve 22.

[0032] Further, the connecting rod 1 is sleeved with a stop sleeve 4, which is located between the expansion sleeve 22 and the nylon pad plate 31.

[0033] The embodiment sleeves the stop sleeve 4 on the connecting rod 1 between the expansion sleeve 22 and the nylon pad plate 31. When the locking nut 33 is tightened, the spacing between the expansion sleeve 22 and the nylon pad plate 31 is limited, so as to limit the axial displacement of the expansion sleeve 22, thereby avoiding the briquetting block 21 from being pulled out of the expansion sleeve 22 and damaging the sun gear 71 due to excessive tightening of the locking nut 33.

[0034] Further, the embodiment further includes two guide rods 5. One end of the guide rod 5 is symmetrically arranged in the mounting hole of the speed reducer 7, and the other end is inserted into the corresponding mounting hole in the motor base 6, for guiding the accurate alignment of the speed reducer 7 and the motor base 6.

[0035] After the fixing between the sun gear 71 and the planetary gear 72 is completed, two guide rods 5 are symmetrically and penetratingly arranged in the mounting holes of the speed reducer 7, and the other ends of the two guide rods are inserted into the corresponding mounting holes in the motor base 6. During the installation of the entire speed reducer 7 into the motor base 6, the entire speed reducer 7 can be vertically and downwardly moved along the guide rods 5, so as to be accurately installed into the corresponding position in the motor base 6. The guide rods 5 play a certain guiding role in the installation of the entire speed reducer 7, and guide the accurate alignment between the speed reducer 7 and the motor base 6, thereby further improving the assembly accuracy and assembly efficiency of the industrial robot motor base 6 and the C series speed reducer 7. It should be noted that the mounting holes of the speed reducer 7 and the mounting holes in the motor base 6 in the embodiment exist originally, and the mounting holes are used for the installation between the speed reducer 7 and the motor base 6.

[0036] The currently common installation mode is positive sequence installation, that is, the motor base 6 is assembled with the sun gear 71 first, and then the planetary gear 72 in the speed reducer 7 is assembled with the sun gear 71. In the assembly tooling process, due to the structure, the staff cannot visually check whether the teeth of the sun gear 71 and the three planetary gears 72 are aligned at the same time, and the planetary gear 72 and the sun gear 71 are prone to knock, which reduces the assembly accuracy and causes abnormal sound of the robot in the subsequent operation process. Unlike the prior art, the sun gear 71 and the planetary gear 72 are assembled first, and the staff can directly visually adjust the gear angle to avoid gear knock during the assembly. After the assembly of the sun gear 71 and the planetary gear 72 is completed, the expansion sleeve 22 is placed into the inner hole of the sun gear 71, then the connecting rod 1 is inserted through the expansion sleeve 22 and penetrates through the entire speed reducer 7. In this process, the pressing block 21 at the end of the connecting rod 1 gradually enters the expansion sleeve 22, and the nylon pad plate 31 and the pressing plate 32 are sequentially sleeved at the end of the connecting rod 1 away from the pressing block 21. Then, the locking nut 33 is installed and gradually tightened to lock the nylon pad plate 31 and the pressing plate 32, so as to realize the compression and fixation of the planetary gear 72. In this process, the locking nut 33 also applies a pulling force to the connecting rod 1, which drives the pressing block 21 to move towards the pressing plate 32, so that the pressing block 21 extrudes the expansion sleeve 22, the expansion sleeve 22 expands and deforms outward, and the outer wall of the expansion sleeve 22 tightly abuts against the inner hole wall of the sun gear 71. At this time, the gap fit between the expansion sleeve 22 and the inner hole of the sun gear 71 changes to interference fit, thereby realizing firm fixation of the sun gear 71. Finally, two guide rods 5 are symmetrically inserted into the installation holes of the speed reducer 7 composed of the sun gear 71 and the planetary gear 72, and the other ends of the two guide rods 5 are inserted into the corresponding installation holes in the motor base 6. After completion, the entire speed reducer 7 is vertically moved downward along the guide rods 5 until the entire speed reducer 7 is accurately installed at the corresponding position in the motor base 6, and the speed reducer 7 is fixedly installed in the motor base 6 by screws, thereby completing the installation of the motor base 6 and the speed reducer 7. After installation, the locking nut 33 is loosened, and the expansion sleeve 22 will shrink to normal size again. At this time, the nylon pad plate 31, the pressing plate 32, the stop sleeve 4, the connecting rod 1 and the expansion sleeve 22 can be sequentially removed.

[0037] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A special tool for mounting of an industrial robot motor base and a C-series reduction gear, said reduction gear (7) comprising a sun wheel (71) and planet wheels (72), the reduction gear (7) being arranged in the motor base (6), characterized in that: The special tool comprises a connecting rod (1), an expansion and contraction part (2) and a pressing part (3), the connecting rod (1) penetrates the sun gear (71) and the planet gear (72); The expansion and contraction part (2) is arranged at one end of the connecting rod (1) close to the sun gear (71), is used for cooperating with the inner hole of the sun gear (71), realizes radial expansion to fix the sun gear (71); the pressing part (3) is arranged at one end of the connecting rod (1) close to the planet gear (72), is used for fixing the planet gear (72) through axial pressing force, and assists the expansion and contraction part (2) to fix the speed reducer (7) as a whole.

2. A special tool for mounting of industrial robot motor base and C-series gearhead according to claim 1, characterized in that: The expansion and contraction part (2) comprises a pressing block (21) and an expansion sleeve (22), the pressing block (21) is arranged at one end of the connecting rod (1), the expansion sleeve (22) is arranged in the inner hole of the sun gear (71), the pressing block (21) and the expansion sleeve (22) realize radial expansion through taper surface cooperation, so that the expansion sleeve (22) and the inner hole of the sun gear (71) form an interference connection.

3. A special tool for mounting of industrial robot motor base and C-series gearhead according to claim 2, characterized in that: The pressing block (21) is a circular truncated cone structure, the outer diameter thereof is gradually contracted along the direction close to the pressing part (3), the expansion sleeve (22) is provided with a taper hole (221) matched with the pressing block (21).

4. The special tool for mounting of industrial robot motor base and C series reducer as claimed in claim 2, characterized in that: The pressing part (3) comprises a nylon pad plate (31), a pressing plate (32) and a locking nut (33), the nylon pad plate (31) and the pressing plate (32) are sequentially sleeved at one end of the connecting rod (1) away from the expansion and contraction part (2), the locking nut (33) is threadedly connected to the end of the connecting rod (1), is used for pressing the pressing plate (32) to fix the planet gear (72).

5. The special tool for mounting of industrial robot motor base and C series reducer as claimed in claim 4, characterized in that: The connecting rod (1) is sleeved with a stop sleeve (4), the stop sleeve (4) is located between the expansion sleeve (22) and the nylon pad plate (31).

6. The special tool for industrial robot motor base and C series reducer installation of claim 1, wherein: Two guide rods (5) are further included, one end of the guide rod (5) is symmetrically arranged in the mounting hole of the speed reducer (7), the other end is inserted into the corresponding mounting hole in the motor base (6), is used for guiding the accurate alignment of the speed reducer (7) and the motor base (6).

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