A rotor assembly device for a joint motor

Abstract

The utility model provides a rotor assembly device of joint motor, rotor assembly device of joint motor, including assembly frame, pressure equipment subassembly, positioning component, guide component, pressure equipment subassembly is located on the top board of assembly frame, is used for pressure equipment subassembly to motor semi -product, positioning component is located on the bottom plate of assembly frame, is used for positioning motor semi -product, guide component is located below assembly frame, includes guide rod, guide rod is coaxial with motor semi -product setting, and can along motor semi -product axial movement, when pressure equipment subassembly guide rod supports rotor central axle and guides rotor and stator coaxial assembly to assemble. The utility model automatically completes the assembly of rotor, and through positioning component and guide component positioning, guide rotor's assembly, can overcome the suction between rotor and stator when assembling rotor, guarantee the normal assembly of rotor and assembly accuracy, improve the assembly quality and assembly efficiency.

Description

Technical Field

[0001] This utility model relates to the field of articulated motor manufacturing technology, and in particular to a rotor assembly device for an articulated motor. Background Technology

[0002] Joint motors are key components of biomimetic robots such as humanoid robots and quadruped robots. The joint motors of biomimetic robots need to balance flexibility and strength, and the quality of the joint motors determines the overall performance of the biomimetic robot.

[0003] With the advancement of technology, the requirements for bionic robots are becoming increasingly stringent, and correspondingly, the requirements for articulated motors are also rising. Among these, the assembly of the rotor assembly is a crucial step in the production of articulated motors and a significant factor affecting their quality. The assembly of the rotor assembly is particularly challenging. Due to the strong attraction between the rotor and stator, without guiding or positioning measures, the rotor may seize up due to this attraction, leading to assembly failure. Currently, assembly relies heavily on traditional methods. However, traditional manual or semi-automatic assembly methods struggle to guarantee proper rotor assembly, resulting in low efficiency and inconsistent assembly quality, failing to meet increasingly demanding requirements. Utility Model Content

[0004] The present invention aims to provide a rotor assembly device for a joint motor to overcome the shortcomings of the prior art.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is: a rotor assembly device for a joint motor, including an assembly frame, a pressing component, a positioning component, and a guiding component. The pressing component is located on the top plate of the assembly frame and is used to press the rotor onto the semi-finished motor. The positioning component is located on the bottom plate of the assembly frame and is used to position the semi-finished motor. The guiding component is located below the assembly frame and includes a guide rod. The guide rod is coaxially arranged with the semi-finished motor and can move along the axial direction of the semi-finished motor. The top of the guide rod is provided with a tapered part that cooperates with the rotor's central shaft. During the pressing of the rotor, the guide rod supports the rotor's central shaft and guides the rotor to be assembled coaxially with the stator.

[0006] Furthermore, in the aforementioned rotor assembly device for the joint motor, the pressing assembly includes a pressing cylinder, a pressing moving plate, and a pressing head. The pressing cylinder is mounted on the top plate of the assembly frame, and its output end is provided with a pressing moving plate. The pressing head is located below the pressing moving plate and is connected to the pressing moving plate. The bottom of the pressing head is provided with a contour groove that matches the shape of the rotor, and the bottom of the contour groove is provided with multiple magnets.

[0007] Furthermore, in the aforementioned rotor assembly device for the joint motor, the upper end of the assembly frame is also provided with a rotating component. The rotating component includes a rotating seat, a bearing seat, a rotating sleeve, a sliding shaft, a main gear, and a driven gear. The rotating seat is U-shaped and fixed below the press-fitting moving plate. A bearing seat is provided in the middle of the rotating seat, and a rotating sleeve is inserted into the bearing seat and rotatably connected thereto. A driven gear is fixed at the upper end of the rotating sleeve. The driven gear is connected to the main gear via a transmission belt. The main gear is connected to a servo motor mounted on the rotating seat. The sliding shaft is inserted into the rotating sleeve and slidably connected to it. An upper limit block is provided at the upper end of the sliding shaft, and a protruding lower limit part is provided at the lower end. A spring is provided between the top surface of the lower limit part and the rotating sleeve and sleeved on the sliding shaft. The press-fitting head is fixed below the lower limit part.

[0008] Furthermore, in the aforementioned rotor assembly device for the joint motor, the positioning component includes a positioning base plate, a positioning seat, and clamping claws. The positioning base plate is fixed above the base plate of the assembly frame, and a positioning seat is provided in the middle. The positioning seat is provided with a positioning groove that matches the shape of the semi-finished motor. Two clamping claws are provided and are symmetrically arranged on both sides of the positioning seat with the positioning seat as the center.

[0009] Furthermore, in the aforementioned rotor assembly device for the joint motor, the clamping jaw includes a clamping cylinder, a cylinder mounting base, a fixed hinge base, a movable hinge base, and a clamping jaw. The cylinder mounting base is fixed above the positioning base plate. The clamping cylinder is mounted on the cylinder mounting base, and its output end is provided with a movable hinge base. The fixed hinge base is mounted above the cylinder mounting base, and its end away from the clamping cylinder is provided with a hinge portion that is hinged to the middle of the clamping jaw. The end of the movable hinge base away from the clamping cylinder is hinged to the lower end of the clamping jaw. The upper end of the clamping jaw is provided with a hook-shaped clamping portion.

[0010] Furthermore, in the aforementioned rotor assembly device for the joint motor, the cylinder mounting base has a sliding groove at the upper center, the movable hinge is Y-shaped, one end of which is inserted into the sliding groove and slidably connected to the sliding groove, and the other end is a forked end, the lower end of the clamping claw is inserted into the opening of the forked end of the movable hinge and hinged to the forked end.

[0011] Furthermore, in the aforementioned rotor assembly device for the joint motor, the guide assembly further includes a guide cylinder, a connecting rod, a buffer rod, a lower sliding sleeve, and an upper sliding sleeve. The guide cylinder is mounted on the lower mounting plate, and its output end is provided with a connecting rod. The lower mounting plate is fixed below the assembly frame by multiple connecting rods. The connecting rod is connected to the lower end of the buffer rod, and the guide rod is located above the buffer rod and is elastically connected to the buffer rod.

[0012] Furthermore, in the aforementioned rotor assembly device for the joint motor, the guide assembly further includes a lower sliding sleeve and an upper sliding sleeve. The buffer rod is inserted into the lower sliding sleeve and the upper sliding sleeve from bottom to top and is slidably connected with the lower sliding sleeve and the upper sliding sleeve. The lower outer end of the buffer rod is provided with at least one lower sliding groove, and the upper end is provided with at least one upper sliding groove. The lower sliding sleeve is fixed below the bottom plate of the assembly frame and is provided with a sliding plate that cooperates with the lower sliding groove. The upper sliding sleeve is fitted on the top of the buffer rod and is provided with a sliding post that cooperates with the upper sliding groove. A second spring is also provided between the top of the buffer rod and the upper sliding sleeve. The guide rod is fixed on the top of the upper sliding sleeve and can extend into the central hole of the motor semi-finished product located on the positioning seat and connect with the central shaft of the rotor under the action of the guide electric cylinder.

[0013] Compared with the prior art, the beneficial effects of this utility model are: this utility model positions and guides the rotor assembly by positioning and guiding the rotor assembly, which can overcome the attraction between the rotor and the stator during rotor assembly, prevent the rotor from being suddenly sucked in, and ensure the normal assembly and assembly accuracy of the rotor; moreover, this utility model can automatically complete the rotor assembly, with a high degree of automation, ensuring assembly consistency, and further improving assembly quality and assembly efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional structural diagram of the rotor assembly device for the articulated motor of this utility model; Figure 2 This is a front view of the rotor assembly device for the articulated motor of this utility model; Figure 3 This is a partial structural diagram of the rotor assembly device for the articulated motor of this utility model. Figure 1 ; Figure 4 for Figure 3 A cross-sectional schematic diagram; Figure 5 This is a partial structural diagram of the rotor assembly device for the articulated motor of this utility model. Figure 2 ; Figure 6 This is a partial structural diagram of the positioning component of the rotor assembly device for the articulated motor of this utility model; In the diagram: 1. Assembly rack; 2. Press-fitting assembly; 21. Press-fitting cylinder; 22. Press-fitting moving plate; 23. Press-fitting head; 3. Positioning assembly; 31. Positioning base plate; 32. Positioning seat; 33. Clamping cylinder; 34. Cylinder mounting seat; 35. Fixed hinge seat; 36. Moving hinge seat; 37. Clamping claw; 4. Guide assembly; 41. Guide rod; 42. Guide electric cylinder; 43. Connecting rod; 44. Buffer rod; 45. Lower sliding sleeve; 46. Upper sliding sleeve; 47. Lower mounting plate; 48. Slide plate; 49. Sliding column; 410. Spring II; 5. Rotating assembly; 51. Rotating seat; 52. Bearing seat; 53. Rotating sleeve; 54. Sliding shaft; 55. Main gear; 56. Driven gear; 57. Upper limit block; 58. Spring 1. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example like Figure 1-5 As shown, a rotor assembly device for a joint motor includes an assembly frame 1, a pressing assembly 2, a positioning assembly 3, and a guide assembly 4. The assembly frame 1 includes a base plate, a top plate, and multiple connecting rods connecting the base plate and the top plate. The pressing assembly 2 is located on the top plate of the assembly frame 1 and is used to press the rotor onto the semi-finished motor. The positioning assembly 3 is located on the base plate of the assembly frame 1 and is used to position the semi-finished motor. The guide assembly 4 is located below the assembly frame 1 and includes a guide rod 41. The guide rod 41 is coaxially arranged with the semi-finished motor and can move along the axial direction of the semi-finished motor. Specifically, it is coaxially arranged with the stator of the semi-finished motor. The top of the guide rod 41 is provided with a tapered part that cooperates with the rotor's central shaft. When pressing the rotor, the tapered part abuts against the rotor's central shaft. The guide rod 41 supports the rotor's central shaft and guides the rotor and stator to assemble coaxially.

[0018] This invention uses positioning and guiding components to position and guide the rotor assembly. During rotor assembly, it can overcome the attraction between the rotor and stator, prevent the rotor from being suddenly sucked in, and ensure normal and accurate rotor assembly. Furthermore, this invention can automatically complete rotor assembly, with a high degree of automation, ensuring assembly consistency and further improving assembly quality and efficiency.

[0019] like Figure 1-4As shown, the pressing assembly 2 includes a pressing cylinder 21, a pressing moving plate 22, and a pressing head 23. The pressing cylinder 21 is mounted on the top plate of the assembly frame 1, and its output end is provided with the pressing moving plate 22. The pressing head 23 is located below the pressing moving plate 22 and connected to it. The bottom of the pressing head 23 is provided with a contour groove that matches the shape of the rotor. The bottom of the contour groove is provided with multiple magnets for magnetically attracting the rotor. Specifically, before pressing, the rotor is inserted into the contour groove by a robot (not shown in the figure) or manually. The magnets attract the rotor, and the robot releases its grip on the rotor, completing the loading of the rotor and the positioning and picking of the rotor on the pressing assembly 2.

[0020] The upper end of the assembly frame 1 is also provided with a rotating component 5. The rotating component 5 includes a rotating seat 51, a bearing seat 52, a rotating sleeve 53, a sliding shaft 54, a main gear 55, and a driven gear 56. The rotating seat 51 is U-shaped and is fixed below the pressing moving plate 22. The middle part is provided with a bearing seat 52. The rotating sleeve 53 is inserted into the bearing seat 52 and rotatedly connected to it. The driven gear 56 is fixed at the upper end of the rotating sleeve 53. The driven gear 56 is connected to the main gear 55 through a transmission belt. The main gear 55 is connected to a servo motor provided on the rotating seat 51. The sliding shaft 54 ​​is inserted into the rotating sleeve 53 and is slidably connected to the rotating sleeve 53. The upper end of the sliding shaft 54 ​​is provided with an upper limit block 57, and the lower end is provided with a protruding lower limit part. The upper limit block 57 and the lower limit part limit the sliding stroke of the rotating shaft 54. A spring 58 is provided between the top surface of the lower limit part and the rotating sleeve 53 and is sleeved on the sliding shaft 54 ​​to provide buffering force during pressing. The pressing head 23 is fixed below the lower limit part. During pressing, the rotating component 5 drives the pressing head 23 to rotate, automatically aligning and pressing down.

[0021] like Figure 1-2 As shown in Figures 6 and 7, the positioning assembly 3 includes a positioning base plate 31, a positioning seat 32, and clamping claws. The positioning base plate 31 is fixed above the base plate of the assembly frame 1. The positioning seat 32 is provided in the middle. The positioning seat 32 is provided with a positioning groove that matches the shape of the semi-finished motor. There are two clamping claws, which are symmetrically arranged on both sides of the positioning seat 32 with the positioning seat 32 as the center.

[0022] In the above structure, the clamping jaw includes a clamping cylinder 33, a cylinder mounting base 34, a fixed hinge base 35, a movable hinge base 36, and a clamping jaw 37. The cylinder mounting base 34 is fixed above the positioning base plate 31. The clamping cylinder 33 is mounted on the cylinder mounting base 34, and its output end is provided with a movable hinge base 36. The fixed hinge base 35 is mounted above the cylinder mounting base 34, and its end away from the clamping cylinder 33 is provided with a hinge part that is hinged to the middle of the clamping jaw 37. The upper middle part of the cylinder mounting base 34 is provided with a sliding groove. The movable hinge base 36 is Y-shaped, with one end inserted into the sliding groove and slidably connected to the sliding groove. The forked end of its other end is hinged to the lower end of the clamping jaw 37. The upper end of the clamping jaw 37 is provided with a hook-shaped clamping part.

[0023] When the clamping cylinder 33 retracts, the movable hinge 36 retracts along the slide groove, driving the clamping claw 37 to rotate around the hinge point connected to the fixed hinge 35 in the middle. This causes the clamping part of the clamping claw 37 to rotate and press down on the top outer edge of the motor semi-finished product, preventing displacement of the motor semi-finished product during pressing and affecting assembly accuracy. Conversely, when the clamping cylinder 33 extends, the clamping claw 37 releases its clamping force on the motor semi-finished product, allowing for loading and unloading of the motor semi-finished product. The cylinder mounting base has a slide groove in the middle of its upper end. The movable hinge is Y-shaped, with one end inserted into the slide groove and slidably connected to it, and the other end being a forked end. The lower end of the clamping claw is inserted into the opening of the forked end of the movable hinge and hinged to it.

[0024] Among them, such as Figure 1-2 As shown in Figure 5, the guiding assembly 4 also includes a guiding electric cylinder 42, a connecting rod 43, a buffer rod 44, a sliding sleeve 45, and an upper sliding sleeve 46. The guiding electric cylinder 42 is mounted on the lower mounting plate 47, and its output end is provided with a connecting rod 43. The lower mounting plate 47 is fixed to the lower part of the assembly frame 1 by multiple connecting rods. The connecting rod 43 is connected to the lower end of the buffer rod 44. The buffer rod 44 is inserted into the sliding sleeve 45 and the upper sliding sleeve 46 from bottom to top, and is slidably connected with the sliding sleeve 45 and the upper sliding sleeve 46. The lower end of the outer side of the buffer rod 44 is provided with at least one sliding groove, and the upper end is provided with at least one upper sliding groove. The sliding sleeve 45 is fixed to the bottom plate of the assembly frame 1, and is provided with a sliding plate 48 that cooperates with the sliding groove. The upper sliding sleeve 46 is sleeved on the top of the buffer rod 44, and is provided with a sliding post 49 that cooperates with the upper sliding groove. The above structure can guide the... The buffer rod 44 moves axially and limits the sliding stroke of the buffer rod 44 and the compression stroke of the second spring 410, thereby ensuring that the direction of the supporting force of the guide rod 41 is set along the rotor axis and that the rotor is pressed into the same depth as the motor semi-finished product. The second spring 410 is also provided between the top of the buffer rod 44 and the upper sliding sleeve 46, which can provide buffering force during pressing. The guide rod 41 is fixed to the top of the upper sliding sleeve 46 and can be inserted into the center hole of the motor semi-finished product located on the positioning seat 32 and connected to the central shaft of the rotor under the action of the guide electric cylinder 42. It can overcome the attraction between the rotor and the stator. The attraction between the rotor and the stator is large, and the guide electric cylinder 42 provides upward thrust. At the same time, the clamping jaws press the stator shell to prevent the rotor from being suddenly sucked in, ensuring that the rotor can be assembled normally and ensuring the coaxial assembly of the rotor and the stator, thus improving the assembly quality.

[0025] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0026] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rotor assembly device for a joint motor, characterized in that: The assembly includes an assembly frame, a pressing assembly, a positioning assembly, and a guiding assembly. The pressing assembly is located on the top plate of the assembly frame and is used to press the rotor onto the semi-finished motor. The positioning assembly is located on the bottom plate of the assembly frame and is used to position the semi-finished motor. The guiding assembly is located below the assembly frame and includes a guide rod. The guide rod is coaxially arranged with the semi-finished motor and can move along the axial direction of the semi-finished motor. The top of the guide rod has a tapered part that cooperates with the central shaft of the rotor. During the pressing of the rotor, the guide rod supports the central shaft of the rotor and guides the rotor to be assembled coaxially with the stator.

2. The rotor assembly device for the joint motor according to claim 1, characterized in that: The pressing assembly includes a pressing cylinder, a pressing moving plate, and a pressing head. The pressing cylinder is mounted on the top plate of the assembly frame, and its output end is provided with a pressing moving plate. The pressing head is located below the pressing moving plate and is connected to the pressing moving plate. The bottom of the pressing head is provided with a contour groove that matches the shape of the rotor, and the bottom of the contour groove is provided with multiple magnets.

3. The rotor assembly device for the articulated motor according to claim 2, characterized in that: The upper end of the assembly frame is also provided with a rotating component, which includes a rotating seat, a bearing seat, a rotating sleeve, a sliding shaft, a main gear, and a driven gear. The rotating seat is U-shaped and fixed below the pressing moving plate. A bearing seat is provided in the middle of the rotating seat, and a rotating sleeve is inserted into the bearing seat and rotatably connected thereto. A driven gear is fixed at the upper end of the rotating sleeve. The driven gear is connected to the main gear through a transmission belt. The main gear is connected to a servo motor provided on the rotating seat. The sliding shaft is inserted into the rotating sleeve and slidably connected to the rotating sleeve. An upper limit block is provided at the upper end of the sliding shaft, and a protruding lower limit part is provided at the lower end. A spring is provided between the top surface of the lower limit part and the rotating sleeve and sleeved on the sliding shaft. The pressing head is fixed below the lower limit part.

4. The rotor assembly device for the joint motor according to claim 1, characterized in that: The positioning assembly includes a positioning base plate, a positioning seat, and clamping claws. The positioning base plate is fixed above the base plate of the assembly frame, and a positioning seat is provided in the middle. The positioning seat has a positioning groove that matches the shape of the semi-finished motor. There are two clamping claws, which are symmetrically arranged on both sides of the positioning seat with the positioning seat as the center.

5. The rotor assembly device for the articulated motor according to claim 4, characterized in that: The clamping jaw includes a clamping cylinder, a cylinder mounting base, a fixed hinge base, a movable hinge base, and a clamping jaw. The cylinder mounting base is fixed above the positioning base plate. The clamping cylinder is mounted on the cylinder mounting base, and its output end is provided with a movable hinge base. The fixed hinge base is mounted above the cylinder mounting base, and its end away from the clamping cylinder is provided with a hinge portion that is hinged to the middle of the clamping jaw. The end of the movable hinge base away from the clamping cylinder is hinged to the lower end of the clamping jaw. The upper end of the clamping jaw is provided with a hook-shaped clamping portion.

6. The rotor assembly device for a joint motor according to claim 5, characterized in that: The cylinder mounting base has a sliding groove in the middle of its upper end. The movable hinge is Y-shaped, with one end inserted into the sliding groove and slidably connected to it, and the other end being a forked end. The lower end of the clamping claw is inserted into the opening of the forked end of the movable hinge and hinged to it.

7. The rotor assembly device for a joint motor according to claim 1 or 6, characterized in that: The guiding assembly also includes a guiding electric cylinder, a connecting rod, a buffer rod, a sliding sleeve, and an upper sliding sleeve. The guiding electric cylinder is mounted on the lower mounting plate, and its output end is provided with a connecting rod. The lower mounting plate is fixed to the bottom of the assembly frame by multiple connecting rods. The connecting rod is connected to the lower end of the buffer rod. The guiding rod is located above the buffer rod and is elastically connected to the buffer rod.

8. The rotor assembly device for a joint motor according to claim 7, characterized in that: The guide assembly also includes a lower sliding sleeve and an upper sliding sleeve. The buffer rod is inserted into the lower sliding sleeve and the upper sliding sleeve from bottom to top and is slidably connected with the lower sliding sleeve and the upper sliding sleeve. The lower outer end of the buffer rod is provided with at least one lower sliding groove and the upper end is provided with at least one upper sliding groove. The lower sliding sleeve is fixed below the bottom plate of the assembly frame and is provided with a sliding plate that cooperates with the lower sliding groove. The upper sliding sleeve is fitted on the top of the buffer rod and is provided with a sliding post that cooperates with the upper sliding groove. A second spring is also provided between the top of the buffer rod and the upper sliding sleeve. The guide rod is fixed on the top of the upper sliding sleeve.

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