Joint actuator rotor assembly assembly / disassembly device

Abstract

The utility model discloses a joint executor rotor subassembly combination / split device, including frame main part and with frame main part single degree of freedom sliding fit's upper clamp jaw support. The lower clamp jaw subassembly for clamping joint shell is installed on frame main part, the pneumatic rotary upper clamp jaw subassembly for clamping rotor subassembly is equipped on upper clamp jaw support, this component is coaxial with lower clamp jaw subassembly and includes rotary cylinder and installs on its rotary axle's upper clamp jaw subassembly. Frame main part is equipped with upper clamp jaw guide component, is used for guiding upper clamp jaw support to drive pneumatic rotary upper clamp jaw subassembly and moves along the axial accurate. The utility model discloses through the coaxial setting's clamp jaw component and guide structure, effectively guaranteed the centering accuracy of rotor subassembly and joint shell, has realized the controllable, stable operation of combination and split process, has improved assembly quality and operation security significantly.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical tooling and fixture technology, specifically a device for assembling / disassembling a joint actuator rotor assembly. Background Technology

[0002] Joint actuators are core drive components of robots and precision automated equipment, and their performance directly determines the robot's motion accuracy, smoothness, and reliability. These actuators typically employ a highly integrated design with a unique internal motor structure, often using an external rotor design to optimize torque and space. This means the motor rotor is located outside the stator and needs to be precisely assembled with the joint housing, which provides support and protection. Currently, the assembly and disassembly processes during the manufacturing and maintenance of joint actuators mainly face the following technical challenges.

[0003] First, the alignment accuracy requirement is extremely high and difficult to guarantee. The fit between the outer rotor and the joint housing is a precision clearance fit. During manual assembly, the lack of effective radial and axial positioning guidance, relying solely on the operator's experience and feel, easily leads to slight bumps and friction between the rotor and the inner wall of the joint housing or the end cap. This alignment deviation not only causes scratches at the moment of assembly but also results in initial misalignment of the actuator after assembly, causing electromagnetic imbalance and torque fluctuations during motor operation. Ultimately, this manifests as vibration, abnormal noise, and additional wear on the robot joint, severely impairing its dynamic performance and service life.

[0004] Secondly, the rotor assembly exhibits strong attraction, posing a high operational risk. To meet high torque requirements, the size of the outer rotor and the amount of magnets used in articulated actuators are increasing, resulting in a very significant electromagnetic attraction between the rotor assembly and the articulated housing. During manual final pressing or initial disassembly, the operator must apply tremendous force instantaneously to overcome this attraction. This not only places a huge strain on the operator's physical strength but also poses a serious safety hazard: if the assembly suddenly detaches, the immense inertia can easily cause the precision rotor assembly to slip out of control, resulting in product scrap or even personal injury.

[0005] Therefore, there is an urgent need in this field for a special tooling that can achieve a controllable, precise, safe and reliable assembly and disassembly process tailored to the structural characteristics of the external rotor of the joint actuator, so as to ensure the manufacturing quality and maintenance efficiency of high-end robot joints. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a joint actuator rotor assembly / disassembly device that can meet the usage requirements of joint actuator rotor assembly and disassembly, and has the advantages of being controllable, accurately aligned and safe and reliable.

[0007] To achieve the above objectives, this utility model provides the following technical solution: A joint actuator rotor assembly / disassembly device includes a frame body and an upper gripper bracket that slides with the frame body in a single degree of freedom. The frame body is equipped with a lower gripper assembly for clamping the joint housing; the upper gripper bracket is provided with a pneumatic rotating upper gripper assembly for clamping the rotor assembly; the pneumatic rotating upper gripper assembly and the lower gripper assembly are coaxially arranged; the pneumatic rotating upper gripper assembly includes a rotary cylinder mounted on the upper gripper bracket, and the upper gripper assembly for clamping the rotor assembly is mounted on the rotation shaft of the rotary cylinder; The frame body is provided with an upper gripper guide assembly for guiding the upper gripper support to move so that the pneumatic rotating upper gripper assembly moves axially toward or away from the lower gripper assembly.

[0008] Furthermore, the lower gripper assembly includes a positioning seat fixedly mounted on the frame body for positioning the joint housing and a gripping finger cylinder corresponding to the positioning seat. Each pneumatic gripping finger of the gripping finger cylinder is respectively equipped with a first gripper for clamping and fixing the joint housing.

[0009] Furthermore, the upper gripper assembly is a three-jaw cylinder mounted on the rotating shaft, and each pneumatic finger of the three-jaw cylinder is equipped with a second gripper for gripping the rotor assembly.

[0010] Furthermore, the upper gripper guide assembly includes a fixed plate mounted on the frame body. The fixed plate is provided with a first guide rail parallel to the axis of the lower gripper assembly and a first slider that slides with the first guide rail. The upper gripper bracket is mounted on the first slider.

[0011] Furthermore, the fixing plate is provided with a drive assembly for driving the upper gripper bracket to move along the first guide rail.

[0012] Furthermore, the drive assembly includes a worm gear reducer mounted on the fixed plate and a threaded screw that is drively connected to the output shaft of the worm gear reducer, and the upper jaw bracket is threadedly engaged with the threaded screw.

[0013] Furthermore, the threaded screw is connected to the output shaft of the worm gear reducer by a coupling; the input shaft of the worm gear reducer is equipped with a drive handle, or the input shaft of the worm gear reducer is connected to a drive motor.

[0014] Furthermore, the upper gripper bracket is also provided with a top tip assembly located below the main body of the frame. The top tip assembly includes a top tip coaxial with the lower gripper assembly. The top tip is used to pass through the inner hole of the joint housing and cooperate with the rotor assembly. During assembly and disassembly, it is used to assist in positioning the rotor assembly and apply an auxiliary support force to the rotor assembly to overcome the electromagnetic attraction force.

[0015] Furthermore, the upper gripper bracket is provided with a second guide rail located below the main body of the frame. The second guide rail is parallel to the first guide rail. A second slider is installed on the second guide rail and slides therewith. A movable seat is installed on the second slider. The tip is installed on the movable seat. The upper gripper bracket is provided with a tip drive mechanism for driving the movable seat to move along the second guide rail.

[0016] Furthermore, the top drive mechanism includes a rodless cylinder mounted on the upper gripper bracket.

[0017] The beneficial effects of this utility model are as follows: The assembly / disassembly device for the joint actuator rotor assembly of this utility model has the following technical advantages: (1) Significantly improves assembly alignment accuracy and quality: By setting a coaxial lower gripper assembly and a pneumatically rotating upper gripper assembly, and using the upper gripper guide assembly to constrain its single-degree-of-freedom axial movement, precise axial guidance is provided for the assembly / disassembly of the rotor assembly and the joint housing. This structure fundamentally avoids radial misalignment caused by uneven force or skew during manual operation, ensures the high coaxiality requirement between the rotor and the inner hole of the housing, effectively prevents scratches and bumps during assembly, and guarantees the factory performance and service life of the joint actuator.

[0018] (2) Effectively overcomes electromagnetic attraction force, ensuring safe and controllable operation: Mechanical clamping and feeding methods replace purely manual operation. Pneumatic components provide stable clamping force, and the guiding and driving components convert the force applied by the operator into controllable and smooth axial movement, thereby safely and reliably overcoming the strong electromagnetic attraction force between the rotor and the housing. This greatly reduces the risk of product scrapping and personnel injury caused by sudden component detachment, and improves the safety of the operation process.

[0019] (3) Achieving dual functionality and improving work efficiency: Through a set of fixture systems, reversible axial movement is used to simultaneously meet the two opposite process requirements of "assembly" and "disassembly". This integrated design avoids the need for additional tooling during maintenance, simplifies the operation process, and significantly improves the work efficiency of manufacturing and maintenance while ensuring accuracy and safety. Attached Figure Description

[0020] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the following drawings are provided for illustration: Figure 1 This is a schematic diagram of the structure of an embodiment of the joint actuator rotor assembly / disassembly device of this utility model; Figure 2 for Figure 1 The left view; Figure 3 for Figure 1 Axonometric drawing.

[0021] Explanation of reference numerals in the attached figures: 10-Frame body; 11-Upper gripper bracket; 12-Joint housing; 13-Rotor assembly; 20-Lower gripper assembly; 21-Positioning seat; 22-Finger gripper cylinder; 23-First gripper; 30 - Pneumatic rotary upper gripper assembly; 31 - Rotary cylinder; 32 - Three-jaw cylinder; 33 - Second gripper; 40 - Upper gripper guide assembly; 41 - Fixed plate; 42 - First guide rail; 43 - First slider; 44 - Threaded screw; 45 - Worm gear reducer; 46 - Output shaft; 47 - Coupling; 48 - Drive handle; 50 - Top component; 51 - Top; 52 - Second guide rail; 53 - Second slider; 54 - Moving seat; 55 - Rodless cylinder. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0023] like Figure 1-3 As shown, the joint actuator rotor assembly / disassembly device of this embodiment includes a frame body 10 and an upper gripper bracket 11 that slides with the frame body 10 with a single degree of freedom. The frame body 10 is equipped with a lower gripper assembly 20 for clamping the joint housing 12; the upper gripper bracket 11 is provided with a pneumatic rotating upper gripper assembly 30 for clamping the rotor assembly 13, and the pneumatic rotating upper gripper assembly 30 and the lower gripper assembly 20 are coaxially arranged.

[0024] In this embodiment, the lower gripper assembly 20 includes a positioning seat 21 fixedly mounted on the frame body 10 for positioning the joint housing 12, and a gripping cylinder 22 corresponding to the positioning seat 21. Each pneumatic gripping finger of the gripping cylinder 22 is equipped with a first gripper 23 for clamping and fixing the joint housing 12. In this embodiment, the positioning seat 21 has a central through hole for the tip to pass through. Thus, the joint housing 12 is positioned and installed by the positioning seat 21, and then the first gripper 23 is moved by the gripping cylinder 22 to clamp and fix the joint housing 12.

[0025] In this embodiment, the pneumatic rotating upper gripper assembly 30 includes a rotary cylinder 31 mounted on the upper gripper bracket 11, and an upper gripper assembly for clamping the rotor assembly is mounted on the rotation shaft of the rotary cylinder 31. Specifically, the upper gripper assembly is a three-jaw cylinder 32 mounted on the rotation shaft, and each pneumatic finger of the three-jaw cylinder 32 is respectively equipped with a second gripper 33 for clamping the rotor assembly 13. Thus, by driving the second gripper 33 to move radially inward using the three-jaw cylinder 32, the rotor assembly 13 can be clamped and fixed, and the upper gripper assembly can be rotated around the axis by driving the rotary cylinder 31.

[0026] In this embodiment, the frame body 10 is provided with an upper gripper guide assembly 40 for guiding the upper gripper support 11 to move so that the pneumatically rotating upper gripper assembly 30 moves axially toward or away from the lower gripper assembly 20. Specifically, the upper gripper guide assembly 40 includes a fixed plate 41 mounted on the frame body 10. The fixed plate 41 is provided with a first guide rail 42 parallel to the axis of the lower gripper assembly 20 and a first slider 43 slidably engaged with the first guide rail 42. The upper gripper support 11 is mounted on the first slider 43. In this embodiment, the fixed plate 41 is provided with a drive assembly for driving the upper gripper support 11 to move along the first guide rail 42. Specifically, the drive assembly includes a worm gear reducer 45 mounted on the fixed plate 41 and a threaded screw 44 that is pulsatorically connected to the output shaft 46 of the worm gear reducer 45. The upper gripper support 11 and the threaded screw 44 are threadedly engaged. Thus, by using the power output of the worm gear reducer to drive the threaded screw 44 to rotate, the upper gripper support 11 can be driven to move along the first guide rail 42. In this embodiment, the worm gear reducer includes a worm wheel and a worm, and the threaded screw 44 is connected to the output shaft of the worm gear reducer 45 by a coupling 47. In this embodiment, a drive handle 48 is provided on the input shaft of the worm gear reducer 45. Of course, in some other embodiments, a drive motor can also be connected to the input shaft of the worm gear reducer 45, which will not be described in detail here.

[0027] In a preferred embodiment of this example, the upper gripper bracket 11 is further provided with a tip assembly located below the frame body 10. The tip assembly includes a tip 51 coaxial with the lower gripper assembly 20. The tip 51 is used to pass through the inner hole of the joint housing 12 and engage with the rotor assembly 13. During assembly and disassembly, it assists in positioning the rotor assembly 13 and applies an auxiliary support force to the rotor assembly 13 to overcome the electromagnetic attraction force. Specifically, in this embodiment, the upper gripper bracket 11 is provided with a second guide rail 52 located below the frame body 10. The second guide rail 52 is parallel to the first guide rail 42. A second slider 53 is mounted on the second guide rail 52 and engages with it. A movable seat 54 is mounted on the second slider 53. The tip 51 is mounted on the movable seat 54. The upper gripper bracket 11 is provided with a tip drive mechanism for driving the movable seat 54 to move along the second guide rail 52. Specifically, the tip drive mechanism in this embodiment includes a rodless cylinder 55 mounted on the upper gripper bracket 11.

[0028] The process of assembling the joint housing 12 and the rotor assembly 13 using the joint actuator rotor assembly / disassembly device of this embodiment is as follows: (1) Installation of joint housing 12: Install the joint housing 12 on the positioning seat 21 and start the finger clamping cylinder 22 to clamp the joint housing 12; (2) Rotor assembly 13 installation: Hold the rotor assembly 13 and position it on the three-jaw cylinder 32, and at the same time start the three-jaw cylinder 32 to clamp the rotor assembly 13; (3) Rotor assembly 13 alignment: Start the rodless cylinder 55 to make the tip 51 rise through the inner hole of the joint housing 12 to lift and position the lower end face inner hole of the rotor assembly; (4) Assembly: Manually turn the drive handle 48 to drive the threaded screw 44 to rotate using the worm gear reducer, so that the upper jaw bracket 11 moves down and drives the rotor assembly 13 to move down and combine with the joint housing 12; (5) Unclamping: Start the switch in sequence, open the rodless cylinder 55 to move the tip 51 down, open the three-jaw cylinder 32 to release the rotor assembly 13, open the finger-clamping cylinder 22 to release the joint housing 12; after all cylinders are released, turn the drive handle 48 to drive the threaded screw 44 to rotate, so that the upper jaw bracket 11 rises, and finally take out the product to complete the assembly.

[0029] The process of separating the joint housing 12 and the rotor assembly 13 using the joint actuator rotor assembly / disassembly device of this embodiment is as follows: (1) Product installation: Install the product on the positioning seat 21 and start the finger clamping cylinder 22 to clamp the joint housing 12; (2) Rotor assembly clamping: Rotate the drive handle 48, and use the worm gear reducer to drive the threaded screw 44 to rotate, so that the upper jaw bracket 11 moves down to the position of the rotor assembly 13, and then start the three-jaw cylinder 32 to clamp the outer circle of the rotor assembly 13. (3) Top positioning: Start the rodless cylinder 55 to make the top 51 rise through the inner hole of the joint housing 12 to lift and position the inner hole of the lower end face of the rotor assembly 13. (4) Disassembly: Rotate the drive handle 48 to drive the threaded screw 44 to rotate using the worm gear reducer, so that the upper jaw bracket 11 moves upward and drives the rotor assembly 13 to move upward and separate from the joint housing 12. (5) Picking up / unclamping: Start the switch in sequence, open the rodless cylinder 55 to move the tip 51 down, open the three-jaw cylinder 32 to release the second jaw 33 from the rotor assembly 13 while manually holding the rotor assembly 13 and taking it out, open the finger-clamping cylinder 22 to release the first jaw 23 from the joint housing 12, and manually take out the joint housing 12.

[0030] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A device for assembling / disassembling a joint actuator rotor assembly, characterized in that: It includes a frame body and an upper gripper bracket that slides with the frame body with a single degree of freedom; The frame body is equipped with a lower gripper assembly for clamping the joint housing; the upper gripper bracket is provided with a pneumatic rotating upper gripper assembly for clamping the rotor assembly; the pneumatic rotating upper gripper assembly and the lower gripper assembly are coaxially arranged; the pneumatic rotating upper gripper assembly includes a rotary cylinder mounted on the upper gripper bracket, and the upper gripper assembly for clamping the rotor assembly is mounted on the rotation shaft of the rotary cylinder; The frame body is provided with an upper gripper guide assembly for guiding the upper gripper support to move so that the pneumatic rotating upper gripper assembly moves axially toward or away from the lower gripper assembly.

2. The assembly / disassembly device for the joint actuator rotor assembly according to claim 1, characterized in that: The lower gripper assembly includes a positioning seat fixedly mounted on the frame body for positioning the joint shell and a gripping cylinder corresponding to the positioning seat. Each pneumatic gripping finger of the gripping cylinder is equipped with a first gripper for clamping and fixing the joint shell.

3. The assembly / disassembly device for the joint actuator rotor assembly according to claim 1, characterized in that: The upper gripper assembly is a three-jaw cylinder mounted on the rotating shaft, and each pneumatic finger of the three-jaw cylinder is equipped with a second gripper for gripping the rotor assembly.

4. The assembly / disassembly device for the joint actuator rotor assembly according to claim 1, characterized in that: The upper gripper guide assembly includes a fixed plate mounted on the frame body. The fixed plate is provided with a first guide rail parallel to the axis of the lower gripper assembly and a first slider that slides with the first guide rail. The upper gripper bracket is mounted on the first slider.

5. The assembly / disassembly device for the joint actuator rotor assembly according to claim 4, characterized in that: The fixed plate is provided with a drive assembly for driving the upper gripper bracket to move along the first guide rail.

6. The assembly / disassembly device for the joint actuator rotor assembly according to claim 5, characterized in that: The drive assembly includes a worm gear reducer mounted on the fixed plate and a threaded screw that is drively connected to the output shaft of the worm gear reducer. The upper jaw bracket is threadedly engaged with the threaded screw.

7. The joint actuator rotor assembly / disassembly device according to claim 6, characterized in that: The threaded screw is connected to the output shaft of the worm gear reducer by a coupling; the input shaft of the worm gear reducer is equipped with a drive handle, or the input shaft of the worm gear reducer is connected to a drive motor.

8. The assembly / disassembly device for a joint actuator rotor assembly according to any one of claims 4-7, characterized in that: The upper gripper bracket is also provided with a top tip assembly located below the main body of the frame. The top tip assembly includes a top tip coaxial with the lower gripper assembly. The top tip is used to pass through the inner hole of the joint housing and cooperate with the rotor assembly. During assembly and disassembly, it is used to assist in positioning the rotor assembly and apply an auxiliary support force to the rotor assembly to overcome the electromagnetic attraction force.

9. The assembly / disassembly device for the joint actuator rotor assembly according to claim 8, characterized in that: The upper gripper bracket is provided with a second guide rail located below the main body of the frame. The second guide rail is parallel to the first guide rail. A second slider is installed on the second guide rail and slides therewith. A movable seat is installed on the second slider. The tip is installed on the movable seat. The upper gripper bracket is provided with a tip drive mechanism for driving the movable seat to move along the second guide rail.

10. The assembly / disassembly device for the joint actuator rotor assembly according to claim 9, characterized in that: The top drive mechanism includes a rodless cylinder mounted on the upper gripper bracket.

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