Joint actuator motor assembly assembly device

Abstract

This utility model discloses an assembly device for a joint actuator motor assembly, including a worktable, a fixed base, and a sliding base that slides with the worktable via a vertical guide rail. The worktable is equipped with a stator clamping assembly and a rotor feeding assembly for positioning the stator and conveying the rotor. The sliding base is equipped with a rotor clamping assembly and a rotary drive assembly for clamping and driving the rotor to rotate. The fixed base is equipped with a linear drive assembly for driving the sliding base to move vertically. Its innovation lies in the presence of a first flexible rubber ring between the rotor clamping assembly's shaft and the shaft seat, enabling the shaft to have radial swing capability. This achieves flexible alignment during the assembly process, effectively avoiding jamming and collisions caused by precision fitting. This utility model automates and refines the assembly process, significantly improving assembly efficiency, safety, and product quality.

Description

Technical Field

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

[0002] As core driving components of robots and precision automated equipment, the performance of articulated actuators directly determines the motion accuracy, response speed, and long-term reliability of the entire machine. To achieve high torque density and a compact structure, these actuators generally employ an external rotor motor design, where the rotor is located outside the stator. This unique structure presents two significant technical challenges during the final press-fit assembly of the motor components (mainly including the inner stator assembly and the outer rotor assembly).

[0003] First, the strong magnetic attraction brings significant operational risks and assembly difficulties. As the output torque requirements of articulated actuators continue to increase, the size of their rotor components and the amount of permanent magnets (magnets) required also increase, resulting in extremely strong electromagnetic attraction between the rotor and stator. In traditional manual assembly, operators must apply enormous axial pressure at the moment of final alignment to overcome this electromagnetic force. This not only severely tests the operator's physical strength but also poses serious safety hazards: if the rotor suddenly engages with the stator under immense pressure, it is highly susceptible to slippage due to inertia, causing damage to precision components or even personal injury, directly leading to product scrap and low production efficiency.

[0004] Secondly, there is a contradiction between the extremely high alignment precision requirements and the necessary flexibility. The rotor assembly needs to be precisely embedded within the annular gap formed by the stator assembly housing, requiring a micrometer-level precision fit. Traditional assembly methods lack effective axial and radial positioning and guiding mechanisms, and relying solely on manual vision and feel makes it difficult to guarantee concentricity in each assembly. Even minor alignment deviations can cause the rotor to become stiff, jammed, or rub against the stator or the inner wall of the housing, resulting in abnormal noises or, in severe cases, degraded motor performance or even complete failure due to rotor rubbing. Furthermore, to cope with the minute manufacturing tolerances of the parts and ensure a smooth assembly process, the assembly equipment must possess a certain degree of self-adaptive floating capability in the radial direction, i.e., "flexibility," which rigid pressing assembly methods cannot meet.

[0005] Therefore, given the structural characteristics of the external rotor motor of the joint actuator, there is an urgent need in this field for an automated, high-precision, and flexible assembly device to fundamentally improve assembly quality, ensure operational safety, and meet the needs of large-scale production. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a joint actuator motor assembly assembly device that can meet the assembly and use requirements of the motor assemblies of the outer rotor and inner stator in the joint actuator.

[0007] To achieve the above objectives, this utility model provides the following technical solution: A joint actuator motor assembly assembly device includes a worktable, a fixed base, and a sliding base. The fixed base is located above the worktable, and the sliding base is located between the worktable and the fixed base. The sliding base is slidably engaged with a fixedly installed vertical guide rail. The workbench is equipped with a stator clamping assembly for positioning and clamping the stator assembly and a rotor feeding assembly for feeding the rotor assembly. The sliding seat is provided with a rotor clamping assembly for clamping the rotor assembly and a rotary drive assembly for driving the rotor clamping assembly to rotate. The fixed base is provided with a linear drive assembly for driving the sliding base to move along the vertical guide rail; The rotor clamping assembly includes a rotating shaft and a rotor clamping mechanism for clamping the rotor assembly. The rotor clamping mechanism is fixedly installed at the lower end of the rotating shaft. The rotary drive mechanism includes a rotary motor mounted on the sliding seat. The output shaft of the rotary motor is connected to the rotating shaft for transmission. The sliding seat is provided with a bearing seat sleeved outside the rotating shaft. A first flexible rubber ring is provided between the bearing seat and the rotating shaft to allow the rotating shaft to swing radially relative to the axis.

[0008] Furthermore, the rotor clamping mechanism includes a three-jaw cylinder, and each pneumatic finger of the three-jaw cylinder is equipped with a rotor gripper adapted to the cage of the rotor assembly.

[0009] Furthermore, the linear drive assembly includes a drive cylinder fixedly mounted on the fixed base, and the piston rod of the drive cylinder is connected to the sliding base.

[0010] Furthermore, the piston rod of the driving cylinder is provided with a connecting plate, and a plurality of elastic connecting components are provided between the connecting plate and the sliding seat; the elastic connecting component includes a connecting shaft, the connecting plate and the connecting shaft are slidably engaged, and a flexible spring is sleeved on the connecting shaft between the connecting plate and the sliding seat.

[0011] Furthermore, the stator clamping assembly includes a stator positioning seat for positioning the stator assembly and a stator clamping mechanism for holding the stator assembly; the stator positioning seat includes a base mounted on the worktable and a positioning seat mounted on the base, the positioning seat is provided with a positioning platform for positioning the stator assembly, and the base is equipped with positioning screws for axial and radial positioning of the positioning seat.

[0012] Furthermore, the stator clamping mechanism includes a double-acting cylinder, and stator grippers for clamping the stator assembly housing are respectively installed on the piston rods at both ends of the double-acting cylinder; the positioning platform is provided with a guide passage for guiding the stator grippers, and the guide track is parallel to the piston rod of the double-acting cylinder.

[0013] Furthermore, the rotor feeding assembly includes a support seat mounted on the workbench, a mounting plate mounted on the top of the support seat above the positioning seat, a horizontal guide rail on the mounting plate, a horizontal slider mounted on the horizontal guide rail, a receiving plate for placing the rotor assembly mounted on the horizontal slider, and a feeding drive mechanism mounted on the mounting plate for driving the receiving plate to move along the horizontal guide rail to move directly above the positioning seat or away from directly above the positioning seat.

[0014] Furthermore, a push rod assembly is provided below the worktable; the push rod assembly includes a push rod and a fixed plate located below the worktable, a vertical support guide rod is provided between the fixed plate and the worktable, a sliding plate is provided on the support guide rod and slidably engaged therewith, and a push rod driving mechanism is provided on the fixed plate for driving the sliding plate to move along the support guide rod; a push rod seat is installed on the sliding plate, and the push rod is installed in the push rod seat; the push rod is coaxially arranged with the positioning seat, and the positioning seat is provided with a central through hole for the push rod to pass through.

[0015] Furthermore, the lower end of the push rod is sleeved inside the push rod seat, and a second flexible rubber ring is provided between the push rod and the push rod seat to allow the push rod to swing radially relative to the push rod seat.

[0016] Furthermore, a vertical plate is installed on the fixed base, and a vertical guide rail is disposed on the vertical plate.

[0017] The beneficial effects of this utility model are as follows: This utility model discloses a joint actuator motor assembly device. Through the coordinated layout of the worktable, fixed seat, and sliding seat, and the integrated design of the stator clamping assembly, rotor feeding assembly, rotor holding assembly, and linear drive assembly, it achieves automated assembly of the motor assembly. The rotor holding assembly employs a structure with a first flexible rubber ring between the shaft and the bearing seat, allowing the shaft to swing radially. This provides the necessary flexibility and effectively overcomes the jamming problem caused by precision clearance fits during assembly, ensuring the alignment accuracy between the rotor assembly, stator assembly, and housing, and reducing bumps and friction. Simultaneously, the linear drive assembly controls the vertical movement of the sliding seat, and combined with the rotary drive assembly, achieves controllable and stable pressing operation, avoiding the safety risks caused by strong electromagnetic forces during manual assembly, and significantly improving assembly efficiency, reliability, and product quality. Attached Figure Description

[0018] 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 motor assembly device of this utility model; Figure 2 This is an isometric view of each functional component in the joint actuator motor assembly assembly device of this embodiment; Figure 3 A structural diagram of the components installed on the workbench; Figure 4 for Figure 3 AA section view; Figure 5 for Figure 3 Axonometric drawing; Figure 6 This is a cross-sectional view of the rotor clamping assembly.

[0019] Explanation of reference numerals in the attached figures: 1-Stator assembly; 2-Rotor assembly; 10-Worktable; 11-Fixed seat; 12-Sliding seat; 121-Shaft seat; 122-First flexible rubber ring; 123-First limit nut; 13-Vertical plate; 14-Vertical guide rail; 15-Support column; 20-Positioning and clamping stator assembly; 21-Stator positioning seat; 211-Base; 212-Positioning seat; 213-Positioning platform; 214-Positioning screw; 215-Center through hole; 22-Double-acting cylinder; 23-Stator gripper; 24-Guide passage; 25-Guide slider; 30-Rotor loading assembly; 31-Support seat; 32- Mounting plate; 33-Horizontal guide rail; 34-Horizontal slider; 35-Receiving plate; 36-Feeding drive mechanism; 40-Rotor clamping assembly; 41-Rotating shaft; 42-Three-jaw cylinder; 43-Rotor jaw; 50-Rotary drive assembly; 51-Coupling; 60-Linear drive assembly; 61-Connecting plate; 70-Elastic connection assembly; 71-Connecting shaft; 72-Flexible spring; 80-Push rod assembly; 81-Push rod; 82-Fixing plate; 83-Support guide rod; 84-Sliding plate; 85-Push rod seat; 86-Second flexible rubber ring; 87-Push rod drive motor; 88-Screw; 89-Nut. Detailed Implementation

[0020] 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.

[0021] like Figure 1-2As shown, the joint actuator motor assembly assembly device of this embodiment includes a worktable 10, a fixed base 11, and a sliding base 12. The fixed base 11 is fixed above the worktable 10 by a support column 15. The sliding base 12 is located between the worktable 10 and the fixed base 11. To provide precise guidance, a vertical plate 13 is installed on the fixed base 11, and a vertical guide rail 14 is provided on the vertical plate 13. The sliding base 12 slides in cooperation with the vertical guide rail 14.

[0022] like Figure 1-2 As shown, the worktable 10 is equipped with a stator clamping assembly 20 for positioning and clamping the stator assembly 1 and a rotor loading assembly 30 for loading the rotor assembly 2. The sliding seat 12 is equipped with a rotor clamping assembly 40 for clamping the rotor assembly 2 and a rotary drive assembly 50 for driving the rotor clamping assembly 40 to rotate. The fixed seat 11 is equipped with a linear drive assembly 60 for driving the sliding seat 12 to move along the vertical guide rail 14.

[0023] like Figure 3-5 As shown, the stator clamping assembly 20 includes a stator positioning seat 21 for positioning the stator assembly 1 and a stator clamping mechanism for clamping the housing of the stator assembly 1. The stator positioning seat 21 includes a base 211 mounted on the worktable 10 by screws and a positioning seat 212 mounted on the base 211. The positioning seat 212 is provided with a positioning platform 213 for positioning the stator assembly 1. To ensure positioning accuracy, the base 211 is equipped with positioning screws 214 for precise axial and radial positioning of the positioning seat 212. The stator clamping mechanism preferably adopts a double-acting cylinder 22, and stator jaws 23 for clamping the housing of the stator assembly 1 are respectively mounted on the piston rods at both ends of the double-acting cylinder 22. Specifically, the positioning platform 213 is provided with a guide channel 24 for guiding the movement of the stator jaws 23, and the stator jaws 23 are slidably engaged with the guide rail 24 through a guide slider 25. The guide rail 24 is parallel to the piston rod of the double-acting cylinder 22.

[0024] like Figure 3-5 As shown, the rotor loading assembly 30 includes a mounting plate 32 mounted on the worktable 10 via a support base 31. The mounting plate 32 is located above the positioning seat 212. The mounting plate 32 is provided with a horizontal guide rail 33, on which a horizontal slider 34 is mounted, and on the horizontal slider 34 a receiving plate 35 for placing the rotor assembly 2 is mounted. The mounting plate 32 is also equipped with a feeding drive mechanism 36, such as a cylinder or a motor screw mechanism, for driving the receiving plate 35 to move along the horizontal guide rail 33, switching it between a waiting position for loading and an assembly position directly above the positioning seat 212.

[0025] like Figure 6As shown, the rotor clamping assembly 40 includes a rotating shaft 41 and a rotor clamping mechanism for clamping the rotor assembly 2. The rotor clamping mechanism is fixedly installed at the lower end of the rotating shaft 41. In this embodiment, the rotor clamping mechanism preferably adopts a three-jaw cylinder 42, and the three pneumatic fingers of the three-jaw cylinder 42 are respectively equipped with rotor jaws 43 adapted to the cage of the rotor assembly 2 to achieve stable and centered clamping of the rotor assembly 2.

[0026] In particular, such as Figure 6 As shown, a bearing seat 121 is also fixedly mounted on the sliding seat 12, and the bearing seat 121 is sleeved on the rotating shaft 41. A first flexible rubber ring 122 is provided between the bearing seat 121 and the rotating shaft 41, and a first limiting nut 123 for limiting the first flexible rubber ring 122 is installed on the rotating shaft 41. This design allows the rotating shaft 41 to produce a slight elastic swing relative to the bearing seat 121 in the radial direction when subjected to radial force, providing crucial radial flexibility for the assembly process and avoiding jamming caused by minor misalignment.

[0027] like Figure 1-2 As shown, the rotary drive assembly 50 includes a rotary motor fixedly mounted on the sliding seat 12. The output shaft of the rotary motor is connected to the rotating shaft 41 through a coupling 51 or other means, thereby driving the rotor clamping assembly 40 to rotate as a whole.

[0028] like Figure 1-2 As shown, the linear drive assembly 60 includes a drive cylinder fixedly mounted on a fixed base 11. The piston rod of the drive cylinder extends downward and is connected to a sliding seat 12. To provide cushioning and ensure smooth force transmission during the pressing process, a connecting plate 61 is provided at the end of the piston rod of the drive cylinder. Multiple elastic connecting assemblies 70 are provided between the connecting plate 61 and the sliding seat 12. Each elastic connecting assembly 70 includes a connecting shaft 71. The connecting plate 61 has a through hole that slides with the connecting shaft 71, and a flexible spring 72 is sleeved on the connecting shaft 71. The flexible spring 72 is located between the connecting plate 61 and the sliding seat 12.

[0029] Furthermore, such as Figure 3-5As shown, a push rod assembly 80 is provided below the worktable 10. The push rod assembly 80 includes a push rod 81 and a fixed plate 82 located below the worktable 10. The fixed plate 82 is connected to the worktable 10 via a vertically positioned support guide rod 83, and a sliding plate 84 is provided on the support guide rod 83 for sliding engagement with it. A push rod drive mechanism is mounted on the fixed plate 82. In this embodiment, the push rod drive mechanism includes a push rod drive motor 87, a lead screw 88 driven by the motor, and a nut 89 that engages with the lead screw. The nut 89 is connected to the sliding plate 84, thereby driving the sliding plate 84 to move along the support guide rod 83. A push rod seat 85 is mounted on the sliding plate 84. The upper end of the push rod 81 passes through the worktable 10, and its lower end is installed in the push rod seat 85. The push rod 81 is coaxially arranged with the positioning seat 212, and the positioning seat 212 has a central through hole 215 for the push rod 81 to pass through. After assembly, the push rod drive motor 87 operates, pushing the sliding plate 84 and push rod 81 upwards via the lead screw 88 and nut 89 pair. The push rod 81 passes through the central through hole 215 and abuts against the rotor assembly's retainer, providing auxiliary support to overcome electromagnetic attraction forces during the stator and rotor assembly assembly process. Similarly, to compensate for alignment errors, a second flexible rubber ring 86 is provided around the lower end of the push rod 81 and the push rod seat 85, allowing the push rod 81 to swing slightly radially relative to the push rod seat 85.

[0030] The working process of this utility model is as follows: Loading and positioning: The stator assembly 1 is placed on the positioning platform 213 of the stator positioning seat 21 and clamped and fixed by the stator gripper 23 driven by the double-acting cylinder 22. At the same time, the rotor assembly 2 is placed on the receiving plate 35 of the rotor loading assembly 30, and the feeding drive mechanism 36 is activated to send the receiving plate 35 directly above the positioning seat 212.

[0031] Rotor gripping: The linear drive assembly 60 actuates, driving the sliding seat 12 to move downwards, so that the rotor gripper 43 of the rotor clamping assembly 40 reaches the position of the rotor assembly 2; the three-jaw cylinder 42 actuates, clamping the retainer of the rotor assembly 2 through the rotor gripper 43. Subsequently, the linear drive assembly 60 lifts the sliding seat 12, and then the feeding drive mechanism 36 moves the receiving plate 35 back to the waiting position.

[0032] Assembly: The linear drive assembly 60 again drives the sliding seat 12 downward, pressing the rotor assembly 2 into the annular gap between the stator assembly 1 and the housing. During this process, the radial floating capability provided by the first flexible rubber ring 122 ensures that the rotor assembly 2 can be smoothly aligned and inserted, avoiding rigid jamming. The rotary drive assembly 50 can drive the rotor assembly 2 to rotate slowly, further assisting in its alignment. The flexible spring 72 in the elastic connection assembly 70 provides axial buffering, making the pressing force more stable and controllable.

[0033] Removal: After assembly, the rotor clamping assembly 40 is released, and the linear drive assembly 60 drives it to reset. The double-acting cylinder 22 controls the stator gripper 23 to release the stator assembly, and at the same time drives the push rod 81 to move downwards below the central through hole 215, removing the assembled product.

[0034] 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 a joint actuator motor assembly, characterized in that: It includes a worktable, a fixed base, and a sliding base. The fixed base is located above the worktable, and the sliding base is located between the worktable and the fixed base. The sliding base is slidably engaged with a fixedly installed vertical guide rail. The workbench is equipped with a stator clamping assembly for positioning and clamping the stator assembly and a rotor feeding assembly for feeding the rotor assembly. The sliding seat is provided with a rotor clamping assembly for clamping the rotor assembly and a rotary drive assembly for driving the rotor clamping assembly to rotate. The fixed base is provided with a linear drive assembly for driving the sliding base to move along the vertical guide rail; The rotor clamping assembly includes a rotating shaft and a rotor clamping mechanism for clamping the rotor assembly. The rotor clamping mechanism is fixedly installed at the lower end of the rotating shaft. The rotary drive mechanism includes a rotary motor mounted on the sliding seat. The output shaft of the rotary motor is connected to the rotating shaft for transmission. The sliding seat is provided with a bearing seat sleeved outside the rotating shaft. A first flexible rubber ring is provided between the bearing seat and the rotating shaft to allow the rotating shaft to swing radially relative to the axis.

2. The joint actuator motor assembly assembly device according to claim 1, characterized in that: The rotor clamping mechanism includes a three-jaw cylinder, and each pneumatic finger of the three-jaw cylinder is equipped with a rotor gripper that is adapted to the cage of the rotor assembly.

3. The joint actuator motor assembly assembly device according to claim 1, characterized in that: The linear drive assembly includes a drive cylinder fixedly mounted on the fixed base, and the piston rod of the drive cylinder is connected to the sliding base.

4. The joint actuator motor assembly assembly device according to claim 3, characterized in that: The piston rod of the drive cylinder is provided with a connecting plate, and a plurality of elastic connecting components are provided between the connecting plate and the sliding seat; the elastic connecting component includes a connecting shaft, the connecting plate and the connecting shaft are slidably engaged, and a flexible spring is sleeved on the connecting shaft between the connecting plate and the sliding seat.

5. The joint actuator motor assembly assembly device according to claim 1, characterized in that: The stator clamping assembly includes a stator positioning seat for positioning the stator assembly and a stator clamping mechanism for holding the stator assembly; the stator positioning seat includes a base mounted on the worktable and a positioning seat mounted on the base, the positioning seat is provided with a positioning platform for positioning the stator assembly, and the base is equipped with positioning screws for axial and radial positioning of the positioning seat.

6. The joint actuator motor assembly assembly device according to claim 5, characterized in that: The stator clamping mechanism includes a double-acting cylinder, and stator grippers for clamping the stator assembly housing are respectively installed on the piston rods at both ends of the double-acting cylinder; the positioning platform is provided with a guide passage for guiding the stator grippers, and the guide track is parallel to the piston rod of the double-acting cylinder.

7. The joint actuator motor assembly assembly device according to claim 5, characterized in that: The rotor feeding assembly includes a support base mounted on the workbench. A mounting plate located above the positioning seat is mounted on the top of the support base. A horizontal guide rail is provided on the mounting plate. A horizontal slider is mounted on the horizontal guide rail. A receiving plate for placing the rotor assembly is mounted on the horizontal slider. A feeding drive mechanism for driving the receiving plate to move along the horizontal guide rail to or move away from the positioning seat is mounted on the mounting plate.

8. The joint actuator motor assembly assembly device according to claim 5, characterized in that: A push rod assembly is provided below the worktable; the push rod assembly includes a push rod and a fixed plate located below the worktable, a vertical support guide rod is provided between the fixed plate and the worktable, a sliding plate is provided on the support guide rod and slidably engaged therewith, and a push rod drive mechanism is provided on the fixed plate for driving the sliding plate to move along the support guide rod; a push rod seat is installed on the sliding plate, and the push rod is installed in the push rod seat; the push rod is coaxially arranged with the positioning seat, and the positioning seat is provided with a central through hole for the push rod to pass through.

9. The joint actuator motor assembly assembly device according to claim 8, characterized in that: The lower end of the push rod is sleeved inside the push rod seat, and a second flexible rubber ring is provided between the push rod and the push rod seat to allow the push rod to swing radially relative to the push rod seat.

10. The joint actuator motor assembly assembly device according to claim 1, characterized in that: A vertical plate is mounted on the fixed base, and a vertical guide rail is set on the vertical plate.

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