CN115156908B - Assembling device and assembling method for hollow torque motor of integrated joint module of cooperative robot - Google Patents
Assembling device and assembling method for hollow torque motor of integrated joint module of cooperative robot Download PDFInfo
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- CN115156908B CN115156908B CN202211015440.5A CN202211015440A CN115156908B CN 115156908 B CN115156908 B CN 115156908B CN 202211015440 A CN202211015440 A CN 202211015440A CN 115156908 B CN115156908 B CN 115156908B
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- guide rail
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 26
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 13
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 13
- 239000000853 adhesive Substances 0.000 claims description 73
- 230000001070 adhesive effect Effects 0.000 claims description 73
- 238000004804 winding Methods 0.000 claims description 34
- 238000001125 extrusion Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention discloses an assembly device and an assembly method of a frameless torque motor for a collaborative robot integrated joint module; the device comprises a workbench module, a wide guide rail sliding block module, a joint module installation module and a motor positioning tool module. The workbench module is a movable multifunctional aluminum section desktop; the wide guide rail slide block module is arranged on the mounting bottom plate of the workbench; the joint module is fixedly arranged on the wide guide rail module and the workbench mounting bottom plate; the motor positioning tool module is arranged on the movable slide block of the wide guide rail module after positioning adjustment, and can slide left and right on the wide guide rail along with the movable slide block to complete coaxial installation of the motor stator and rotor when the motor is installed. The motor assembly device and the motor assembly method provided by the invention have the advantages that the structure is simple, the operation is convenient, the motor assembly precision and the assembly efficiency can be effectively improved, the coaxiality installation of the stator and the rotor of the motor is fully ensured, and the influence of human factors is reduced.
Description
Technical Field
The invention relates to the technical field of assembly of permanent magnet synchronous motor components, in particular to an assembly device and an assembly method of a hollow torque motor for a collaborative robot integrated joint module.
Background
With the development of the collaborative robot technology, the joint module with high integration level is widely applied. Two essential components, namely a rotor and a stator of a frameless torque motor, are generally integrated in the joint module. Because the permanent magnet is inlaid in the rotor, and the magnetic force is relatively large, if no accurate guiding guarantee exists in the assembling process of the stator and the rotor, the stator and the rotor can not be assembled due to the magnetic attraction of the stator, or the coaxiality of the assembled stator and rotor can not meet the precision requirement of stable operation of the motor.
In the prior art, the assembly can be completed without designing additional tooling equipment generally through the machining precision and guiding assurance of a motor rotor or a shell, but the assembly quality and the assembly efficiency are different from person to person, cannot be fully guaranteed, and the influence of human factors is relatively large. In view of this, a torque motor tooling device and an assembly method that are simple in structure, convenient to operate and capable of guaranteeing assembly quality are the targets pursued by those skilled in the art.
Disclosure of Invention
Aiming at the defects of the prior art and the actual requirements of assembling the stator and the rotor of the torque motor of the joint module of the cooperative robot, the invention provides an assembling device and an assembling method for the stator and the rotor of the hollow torque motor of the joint module of the cooperative robot. The device is characterized by simple structure, convenient operation, capability of assembling various types of joint module motors and capability of ensuring the coaxial installation of the stator and the rotor. In addition, the assembly mode provided by the invention can improve the installation efficiency, ensure the installation quality and eliminate the influence of human factors.
In order to achieve the above purpose, the assembly device of the hollow torque motor for the integrated joint module of the cooperative robot comprises a workbench module, a wide guide rail sliding block module, a joint module installation module and a motor positioning tool module.
The workbench module comprises a plurality of liftable blesses Ma Lun, an aluminum profile seat frame and an installation bottom plate; the wide guide rail slide block module comprises a wide guide rail and a plurality of movable slide blocks; the wide guide rail is fixed on the mounting bottom plate, and the movable sliding block is mounted on the wide guide rail.
The joint module installation module comprises a joint module installation bracket and an installation flange; the bottom of the joint module mounting bracket is provided with a clamping groove matched with the wide guide rail, and the joint module mounting bracket is positioned through the outer side surface of the wide guide rail and the upper plane of the mounting bottom plate and is fixed on the workbench module; the joint module assembly to be assembled is mounted on the side face of the joint module mounting bracket through the mounting flange, and the side face is the side face of the joint module mounting bracket facing one side of the motor positioning tool module.
The motor positioning tool module comprises a motor positioning tool mounting bracket, a tool sleeve, a positioning shaft, an extrusion sleeve, an adhesive motor stator winding and an adhesive motor rotor; the motor positioning tool mounting bracket is fixed on the movable slide block so as to realize free sliding of the motor positioning tool mounting bracket on the wide guide rail; a boss is arranged on one side of the tooling sleeve, and is used for accommodating a accommodating cavity of a motor stator winding and fixing a motor rotor, and a motor wiring groove, a threaded hole for connecting a motor positioning tooling mounting bracket and a bolt through hole for fixing an adhesive motor rotor are formed on the other side of the tooling sleeve; the middle part of the tooling sleeve is provided with a hole for matching with the positioning shaft; the positioning shaft is a stepped shaft and is matched with an inner hole of the tooling sleeve in the initial assembly stage, so that the stator winding of the adhesive motor and the rotor of the adhesive motor are coaxially arranged; the positioning shaft is dismounted after the adhesive motor stator winding and the adhesive motor rotor are mounted on the tooling sleeve; the extrusion sleeve is a round sleeve and is used for extruding the adhesive motor stator winding in place; the outer circular surface and the bottom surface of the adhesive motor stator winding are matched with the accommodating cavity of the tooling sleeve; the adhesive motor rotor comprises a group of threaded holes, and after the positioning shaft is used for positioning the adhesive motor rotor, the adhesive motor rotor can be fastened and connected with the boss of the tooling sleeve through the screw.
As a preferred embodiment of the present invention, the joint module assembly to be assembled comprises an assembled joint module housing, a harmonic reducer assembly, a motor input shaft, a motor output shaft and an associated bearing assembly.
As a preferable scheme of the invention, the workbench module comprises a plurality of liftable formworks Ma Lun, an aluminum profile seat frame and a mounting bottom plate, wherein the mounting bottom plate is arranged at the top of the aluminum profile seat frame, and the upper part of the mounting bottom plate is used for mounting a wide guide rail slide block module, a joint module mounting module, a positioning tool mounting module and a movable retaining piece; and the fortune Ma Lunan is arranged at the bottom of the aluminum profile seat frame. The fuma wheel is fixed by adopting a lifting connecting piece so as to realize the lifting function.
As a preferable scheme of the invention, the movable retainer is used for locking the motor positioning tool module and the mounting bottom plate by bolts after the motor positioning tool module slides to a required position so as to prevent the motor positioning tool module from sliding or overturning.
As a preferable scheme of the invention, the diameter of the part with larger diameter of the positioning shaft is the same as the diameter of the part with the motor stator of the motor input shaft, and the diameter of the part with smaller diameter is the same as the diameter of the part with the band-type brake of the motor input shaft.
The invention also provides an assembling method of the assembling device for the hollow torque motor of the cooperative robot integrated joint module, which comprises the following steps:
step 1: installing a joint module assembly to be assembled on the joint module shell;
Step 2: mounting the joint module assembly mounted in the step 1 on a joint module mounting bracket by using a mounting flange;
Step 3: loading the small-diameter end of the positioning shaft into a tooling sleeve;
step 4: an adhesive stator winding is embedded in a stator winding accommodating cavity of the tooling sleeve;
step 5: the large-diameter end of the positioning shaft is sleeved with the adhesive motor rotor, and the adhesive motor rotor is fixedly connected with the boss part of the tooling sleeve by using a screw;
step 6: taking out the positioning shaft, and connecting the tool sleeve to the motor positioning tool mounting bracket by using a screw;
step 7: the method comprises the steps that the direction of a joint module mounting bracket is used as the forward direction on a wide guide rail, a tool mounting bracket is positioned by a sliding motor until an adhesive motor rotor is mounted in place, at the moment, the adhesive motor rotor is completely mounted in place, but an adhesive motor stator is not completely mounted in place;
Step 8: removing the connecting screw of the adhesive motor rotor and the tooling sleeve to enable the adhesive motor rotor to be separated from the tooling sleeve;
step 9: reversely sliding the motor positioning tool mounting bracket on the wide guide rail until the motor positioning tool mounting bracket is separated from a motor input shaft of the joint module assembly to be assembled; at the moment, the adhesive motor stator winding is also sleeved on the joint module assembly;
Step 10: sleeving an extrusion sleeve on the tooling sleeve;
Step 11: the motor positioning tool mounting bracket is positively slid on the wide guide rail until the adhesive motor stator is mounted in place;
step 12: and reversely sliding the motor positioning tool mounting bracket on the wide guide rail until the motor positioning tool mounting bracket is separated from the motor input shaft, and finishing assembly.
Compared with the prior art, the invention has the following beneficial effects:
The motor assembly device and the motor assembly method overcome the strong magnetic attraction effect between the motor stator winding and the motor rotor in the mode of the positioning shaft and the positioning sleeve, can ensure the coaxial installation between the motor stator winding and the motor rotor, can effectively improve the motor assembly precision, and further improve the running stability of the motor. The invention has simple structure and convenient operation, can greatly improve the installation precision and efficiency and effectively avoid the influence of human factors.
Drawings
Fig. 1 is a schematic structural diagram of assembly and installation of a torque motor stator and a rotor of a joint module of a cooperative robot in an embodiment of the present invention;
FIG. 2 is an exploded view of the component of FIG. 1;
fig. 3 is a schematic diagram of motor stator-rotor connection of tooling sleeve 20;
Fig. 4 is a schematic diagram of an installation process of a stator and a rotor of a motor according to an embodiment of the invention.
In the figure: 1. a workbench module; 2. a wide guide rail slide block module; 3. a joint module installation module; 4. a motor positioning tool module; 5. a fuma wheel; 6. an aluminum profile seat frame; 7. a mounting base plate; 8. a retainer; 9. a wide guide rail; 10. moving the slide block; 11. a joint module mounting bracket; 12. a mounting flange; 13. a joint module assembly; 14. a joint module housing; 15. a harmonic reducer assembly; 16. a motor input shaft; 17. an output shaft of the motor; 18. a bearing assembly; 19. mounting bracket of motor positioning tool; 20. a tooling sleeve; 21. positioning a shaft; 22. extruding the sleeve; 23. adhesive motor stator windings; 24. an adhesive motor rotor.
Detailed Description
The invention is further illustrated and described below in connection with specific embodiments. The described embodiments are merely exemplary of the present disclosure and do not limit the scope. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
As shown in fig. 1 and 2, the present embodiment provides an assembly device for a hollow torque motor of a joint module of a collaborative robot, which includes a workbench module 1, a wide guide rail slider module 2, a joint module mounting module 3 and a motor positioning tool module 4;
The workbench module 1 comprises a plurality of liftable fuma wheels 5, an aluminum profile seat frame 6 and an installation bottom plate 7; the wide guide rail slide block module 2 comprises a wide guide rail 9 and a plurality of movable slide blocks 10; the wide guide rail 9 is fixed on the mounting base plate 7, and the movable slide block 10 is mounted on the wide guide rail 9;
The joint module mounting module 3 comprises a joint module mounting bracket 11 and a mounting flange 12; the bottom of the joint module mounting bracket 11 is provided with a clamping groove matched with the wide guide rail 9, the joint module mounting bracket 11 is positioned through the outer side surface of the wide guide rail 9 and the upper plane of the mounting bottom plate 7, and is fixed on the workbench module 1, and the joint module mounting bracket can be used for fixing at any position of the wide guide rail 9; the joint module assembly 13 to be assembled is mounted on the side surface of the joint module mounting bracket 11 through the mounting flange 12, wherein the side surface is the side surface of the joint module mounting bracket 11 facing to one side of the motor positioning tool module 4;
The motor positioning tool module 4 comprises a motor positioning tool mounting bracket 19, a tool sleeve 20, a positioning shaft 21, an extrusion sleeve 22, an adhesive motor stator winding 23 and an adhesive motor rotor 24; the motor positioning tool mounting bracket 19 is fixed on the movable slide block 10 so as to realize free sliding of the motor positioning tool mounting bracket 19 on the wide guide rail 9; one side of the tooling sleeve 20 is provided with a containing cavity for containing a motor stator winding and a boss for fixing a motor rotor, and the other side of the tooling sleeve 20 is provided with a motor wiring groove, a threaded hole for connecting a motor positioning tooling mounting bracket 19 and a bolt through hole for fixing an adhesive motor rotor 24; as shown in fig. 3, a hole for matching with the positioning shaft 21 is formed in the middle of the tooling sleeve 20; the positioning shaft 21 is a stepped shaft, and the positioning shaft 21 is matched with the inner hole of the tooling sleeve 20 at the initial assembly stage so as to keep coaxial the adhesive motor stator winding 23 and the adhesive motor rotor 24; the positioning shaft 21 is detached after the adhesive motor stator winding 23 and the adhesive motor rotor 24 are mounted on the tooling sleeve 20; the extrusion sleeve 22 is a round sleeve, and is used for extruding the adhesive motor stator winding 23 in place; the outer circular surface and the bottom surface of the adhesive motor stator winding 23 are matched with the accommodating cavity of the tooling sleeve 20; the adhesive motor rotor 24 has a set of threaded holes, and after the positioning shaft is used for positioning the adhesive motor rotor 24, the adhesive motor rotor 24 can be fastened and connected with the boss of the tooling sleeve 20 through screws.
Preferably, the joint module assembly 13 to be assembled comprises an assembled joint module housing 14, a harmonic reducer assembly 15, a motor input shaft 16, a motor output shaft 17 and an associated bearing assembly 18.
As an preference of the invention, the workbench module 1 comprises a plurality of liftable fuma wheels 5, an aluminum profile seat frame 6 and a mounting bottom plate 7, wherein the mounting bottom plate 7 is arranged at the top of the aluminum profile seat frame 6, and the upper part of the mounting bottom plate 7 is used for mounting the wide guide rail slide block module 2, the joint module mounting module 3, the positioning tool mounting module 4 and the movable retainer 8; the fuma wheel 5 is arranged at the bottom of the aluminum profile seat frame 6. The movable retainer 8 is used for locking the motor positioning tool module 4 and the mounting bottom plate 7 in position after the motor positioning tool module 4 slides to a required position; to prevent the motor positioning tooling module 4 from sliding or tipping. The fuma wheel is fixed by adopting a lifting connecting piece so as to realize the lifting function; the workbench module 1 can be fixed or moved at any time through the lifting of the fuma wheel; when the workbench module 1 needs to be fixed, the supporting structure is lowered to be in contact with the ground, so that the supporting structure is firmly fixed on the ground, and when the workbench module 1 needs to be moved, the supporting structure is lifted to be separated from the ground.
Preferably, the larger diameter portion of the positioning shaft 21 is the same as the motor stator portion of the motor input shaft, and the smaller diameter portion is the same as the portion of the motor input shaft on which the band-type brake is mounted.
Referring to fig. 4, the present embodiment illustrates a process of assembling using the assembly device of the hollow torque motor of the present invention, which is implemented as follows:
Step 1: installing a joint module assembly to be assembled on the joint module shell; the joint module assembly to be assembled comprises an assembled joint module shell 14, a harmonic reducer assembly 15, a motor input shaft 16, a motor output shaft 17 and a related bearing assembly 18;
Step 2: mounting the joint module assembly mounted in the step 1 on the side surface of the joint module mounting bracket 11 by using the mounting flange 12, wherein the side surface is the side surface of the joint module mounting bracket 11 facing to one side of the motor positioning tool module 4; the joint module mounting bracket 11 is positioned through the outer side surface of the wide guide rail 9 and the upper plane of the mounting bottom plate 7 and is fixed on the workbench module 1;
Step 3: loading the small diameter end of the positioning shaft 21 into the tooling sleeve 20; one side of the tooling sleeve 20 is provided with a containing cavity for containing a motor stator winding and a boss for fixing a motor rotor, the other side of the tooling sleeve 20 is provided with a motor wiring groove, a bolt through hole for connecting the motor rotor and a threaded hole for connecting a motor positioning tooling mounting bracket 19, and the middle part of the tooling sleeve 20 is provided with a hole for matching with a positioning shaft 21;
step 4: an adhesive motor stator winding 23 is embedded in the stator winding accommodating cavity of the tooling sleeve 20;
step 5: the large-diameter end of the positioning shaft 21 is sleeved with the adhesive motor rotor 24, and the adhesive motor rotor 24 is fixedly connected with the boss part of the tooling sleeve 20 by using a screw; the positioning shaft 21 is matched with the inner hole of the tooling sleeve 20 at the initial assembly stage so as to keep the adhesive motor stator winding 23 and the adhesive motor rotor 24 coaxial;
step 6: the positioning shaft 21 is taken out, and the tooling sleeve 20 is connected to the motor positioning tooling mounting bracket 19 by screws;
Step 7: the direction of the joint module mounting bracket 11 is taken as the forward direction on the wide guide rail, the motor positioning tool mounting bracket 19 is slid until the adhesive motor rotor is mounted in place, at the moment, the adhesive motor rotor is completely mounted in place, but the adhesive motor stator is not completely mounted in place;
step 8: removing the connecting screw of the adhesive motor rotor 24 and the tooling sleeve 20 to separate the adhesive motor rotor 24 from the tooling sleeve 20;
Step 9: reversely sliding the motor positioning tool mounting bracket 19 on the wide guide rail until the tool sleeve 20 is separated from the motor input shaft of the joint module assembly to be assembled; at this time, the adhesive motor stator winding 23 is also sleeved on the joint module assembly;
Step 10: sleeving an extrusion sleeve 22 on the tooling sleeve 20, wherein the extrusion sleeve 22 is a round sleeve;
step 11: the motor positioning tool mounting bracket 19 is positively slid on the wide guide rail, and the adhesive motor stator winding 23 is extruded through the extrusion sleeve 22 until the adhesive motor stator is mounted in place;
step 12: and reversely sliding the motor positioning tool mounting bracket 19 on the wide guide rail until the tool sleeve 20 is separated from the motor input shaft, and finishing assembly.
The invention has simple structure and convenient operation, and can be assembled with various types of joint module motors; the mode of locating shaft and position sleeve has overcome the strong magnetism actuation between motor stator winding and the motor rotor, and the axiality of frock has decided the axiality of stator rotor after the installation, has just certainly satisfied the assembly requirement as long as having installed, guarantees assembly quality, can get rid of artificial influence factor. The device has high installation efficiency, and basically can be installed for 10-15 minutes.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (3)
1. The assembly method of the hollow torque motor for the collaborative robot integrated joint module is characterized by comprising a workbench module (1), a wide guide rail slide block module (2), a joint module installation module (3) and a motor positioning tool module (4);
The workbench module (1) comprises a plurality of liftable blessing horse wheels (5), an aluminum profile seat frame (6) and an installation bottom plate (7); the wide guide rail slide block module (2) comprises a wide guide rail (9) and a plurality of movable slide blocks (10); the wide guide rail (9) is fixed on the mounting bottom plate (7), and the movable sliding block (10) is mounted on the wide guide rail (9);
The joint module installation module (3) comprises a joint module installation bracket (11) and an installation flange (12); the bottom of the joint module mounting bracket (11) is provided with a clamping groove matched with the wide guide rail (9), and the joint module mounting bracket (11) is positioned with the upper plane of the mounting bottom plate (7) through the outer side surface of the wide guide rail (9) and is fixed on the workbench module (1); the joint module assembly (13) to be assembled is mounted on the side face of the joint module mounting bracket (11) through the mounting flange (12), wherein the side face is the side face of the joint module mounting bracket (11) facing one side of the motor positioning tool module (4);
The joint module assembly to be assembled comprises an assembled joint module shell (14), a harmonic reducer assembly (15), a motor input shaft (16), a motor output shaft (17) and a related bearing assembly (18);
The motor positioning tool module (4) comprises a motor positioning tool mounting bracket (19), a tool sleeve (20), a positioning shaft (21), an extrusion sleeve (22), an adhesive motor stator winding (23) and an adhesive motor rotor (24); the motor positioning tool mounting bracket (19) is fixed on the movable slide block (10) so as to realize free sliding of the motor positioning tool mounting bracket (19) on the wide guide rail (9); one side of the tooling sleeve (20) is provided with a containing cavity for containing a stator winding of the adhesive motor and a boss for fixing a rotor of the adhesive motor; a motor wiring groove, a threaded hole for connecting a motor positioning tool mounting bracket (19) and a bolt through hole for fixing an adhesive motor rotor (24) are formed in the other side of the tool sleeve (20); a hole for matching with the positioning shaft (21) is formed in the middle of the tool sleeve (20); the positioning shaft (21) is a stepped shaft; the positioning shaft (21) is matched with the inner hole of the tooling sleeve (20) at the initial assembly stage so as to enable the adhesive motor stator winding (23) and the adhesive motor rotor (24) to be coaxial, and the positioning shaft (21) is detached after the adhesive motor stator winding (23) and the adhesive motor rotor (24) are mounted on the tooling sleeve (20); the extrusion sleeve (22) is a round sleeve and is used for extruding the adhesive motor stator winding (23) in place; the outer circular surface and the bottom surface of the adhesive motor stator winding (23) are matched with the accommodating cavity of the tooling sleeve (20); the adhesive motor rotor (24) comprises a group of threaded holes, and after the positioning shaft is used for positioning the adhesive motor rotor (24), the adhesive motor rotor (24) can be fastened and connected with a boss of the tooling sleeve (20) through screws;
the diameter of the part with larger diameter of the positioning shaft (21) is the same as that of the part with the motor stator of the motor input shaft, and the diameter of the part with smaller diameter of the positioning shaft (21) is the same as that of the part with the band-type brake of the motor input shaft;
the assembly method comprises the following steps:
Step 1: assembling a joint module assembly to be assembled;
Step 2: mounting the joint module assembly to be assembled, which is mounted in the step 1, on a joint module mounting bracket (11) by using a mounting flange (12);
step 3: loading the small diameter end of the positioning shaft (21) into the tooling sleeve (20);
Step 4: an adhesive motor stator winding (23) is embedded in the accommodating cavity of the tooling sleeve (20);
step 5: the large diameter end of the positioning shaft (21) is sleeved with the adhesive motor rotor (24), and the adhesive motor rotor (24) is fixedly connected with the boss part of the tooling sleeve (20) by using a screw;
Step 6: taking out the positioning shaft (21), and connecting the tool sleeve (20) to the motor positioning tool mounting bracket (19) by using a screw;
Step 7: sliding the mounting bracket (19) of the positioning tool of the motor until the adhesive motor rotor (24) is mounted in place on the wide guide rail in the forward direction towards the joint module mounting bracket (11), wherein the adhesive motor rotor (24) is completely mounted in place, but the adhesive motor stator winding (23) is not completely mounted in place;
Step 8: removing the connecting screw of the adhesive motor rotor (24) and the tooling sleeve (20) to enable the adhesive motor rotor to be separated from the tooling sleeve (20);
step 9: reversely sliding a motor positioning tool mounting bracket (19) on the wide guide rail until the motor positioning tool mounting bracket is separated from a motor input shaft of the joint module assembly to be assembled; at the moment, the adhesive motor stator winding (23) is also sleeved on the joint module assembly to be assembled;
Step 10: sleeving an extrusion sleeve (22) on the tooling sleeve (20);
step 11: a motor positioning tool mounting bracket (19) is positively slid on the wide guide rail until the adhesive motor stator is mounted in place;
Step 12: and reversely sliding the motor positioning tool mounting bracket (19) on the wide guide rail until the motor input shaft is separated, and finishing assembly.
2. The assembly method of the hollow torque motor for the integrated joint module of the cooperative robot according to claim 1, wherein the installation base plate (7) is installed at the top of the aluminum profile seat frame (6), and the installation base plate (7) is used for installing the wide guide rail slide block module (2), the joint module installation module (3) and the motor positioning tool module (4); the fuma wheel (5) is arranged at the bottom of the aluminum profile seat frame (6).
3. Method for assembling a hollow torque motor for a co-acting robot integrated joint module according to claim 1, characterized in that the mounting base plate (7) is provided with mobile retainers (8); the movable retainer (8) is used for locking the motor positioning tool module (4) and the mounting bottom plate (7) in position after the motor positioning tool module (4) slides to a required position; so as to prevent the motor positioning tool module (4) from sliding or overturning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211015440.5A CN115156908B (en) | 2022-08-24 | 2022-08-24 | Assembling device and assembling method for hollow torque motor of integrated joint module of cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211015440.5A CN115156908B (en) | 2022-08-24 | 2022-08-24 | Assembling device and assembling method for hollow torque motor of integrated joint module of cooperative robot |
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| CN115156908A CN115156908A (en) | 2022-10-11 |
| CN115156908B true CN115156908B (en) | 2024-04-30 |
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| CN204442109U (en) * | 2015-01-20 | 2015-07-01 | 宁波菲仕电机技术有限公司 | A kind of auxiliary mould of motor assembling |
| CN107453561A (en) * | 2017-10-09 | 2017-12-08 | 沈阳工业大学 | The assembling of radial permanent magnet electric machine rotor and disassembling apparatus |
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| CN108988591A (en) * | 2018-07-26 | 2018-12-11 | 马鞍山和腾汽车配件有限公司 | A kind of magnetic shoe assembly method of starter stator assembly |
| CN109525077A (en) * | 2018-12-18 | 2019-03-26 | 北京遥感设备研究所 | A kind of micro-machine rotor mounting device and application method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110800197B (en) * | 2017-08-25 | 2021-11-09 | 三菱重工发动机和增压器株式会社 | Motor assembling method, centering jig, and electric motor |
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2022
- 2022-08-24 CN CN202211015440.5A patent/CN115156908B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204442109U (en) * | 2015-01-20 | 2015-07-01 | 宁波菲仕电机技术有限公司 | A kind of auxiliary mould of motor assembling |
| CN107453561A (en) * | 2017-10-09 | 2017-12-08 | 沈阳工业大学 | The assembling of radial permanent magnet electric machine rotor and disassembling apparatus |
| CN207910646U (en) * | 2018-03-09 | 2018-09-25 | 济南飞越机电科技有限公司 | A kind of split type torque motor mounting tool of photoelectric turntable |
| CN108988591A (en) * | 2018-07-26 | 2018-12-11 | 马鞍山和腾汽车配件有限公司 | A kind of magnetic shoe assembly method of starter stator assembly |
| CN109525077A (en) * | 2018-12-18 | 2019-03-26 | 北京遥感设备研究所 | A kind of micro-machine rotor mounting device and application method |
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| CN115156908A (en) | 2022-10-11 |
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Address after: 317600 Yucheng street, Yuhuan City, Taizhou, Zhejiang. Applicant after: Zhejiang Huandong Robot Joint Technology Co.,Ltd. Address before: 317600 Yucheng street, Yuhuan City, Taizhou, Zhejiang. Applicant before: Zhejiang environmental Robot Joint Technology Co.,Ltd. |
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